A Fault-Tolerant Control Algorithm of Redundant Space Manipulator for Remote Inspection

Abstract

Remote inspection is a crucial technology for service vehicles that support space infrastructures. Since dexterous translation of viewpoint is vital for such surface inspection, we have proposed utilizing a redundant manipulator for such inspection. Service vehicles need to be in space for a long period of time, so manipulators should autonomously adapt to partial failures. In this paper, we propose a decentralized autonomous control algorithm for a hyper-redundant manipulator that can automatically adapt to partial failures.