The National Science Foundation awarded a $259,492 Project Grant to the University of Kentucky Research Foundation under the Computer and Information Science and Engineering federal grant program (CFDA 47.070) for the period of September 1, 2022 through August 31, 2025.
The grant will support research to develop autonomous fault-tolerant strategies for redundant robotic arms based on predicted and identified joint faults. This will improve the reliability and robustness of redundant robot arms operating in hazardous environments where failures are more likely and maintenance is impossible. Key deliverables include novel methods for computing a six-dimensional fault-tolerant workspace including volume and shape information to optimize robot design. Additionally, a real-time motion planning algorithm considering predicted joint failure probabilities will provide globally optimal trajectories to guarantee task completion after failures. The prognostic and diagnostic algorithms do not require additional sensors or hardware while maintaining high accuracy and speed.