Fault-Tolerant Feedback System for Robot Control

A fault-tolerant feedback (FTF) system has been integrated into a robot control system to prevent robot-arm runaways that could be caused by failure of one or more transducers such as joint-position, torque, and motor-temperature sensors, or in associated wiring harness channels. The FTF system responds to a transducer failure by commanding either safety shutdown or else continued operation of the robot in a degraded mode. The FTF system can detect errors in joint-position, velocity, and torque feedback signals far more quickly than older systems can, thereby reducing uncontrolled motion of the robot arm before a shutdown command is executed. The FTF system can help to ensure safe and efficient operation of a robot that must share its workspace with humans and with delicate materials and equipment.