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2019 | OriginalPaper | Chapter

Discrete Model of Mobile Robot Assemble Fault-Tolerance

Authors : Eugene Larkin, Alexey Bogomolov, Aleksandr Privalov

Published in: Interactive Collaborative Robotics

Publisher: Springer International Publishing

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Abstract

Mobile robots, operated in hard environments, are investigated. It is shown, that in order to ensure the required reliability parameters of the onboard equipment, it should have the fault-tolerance properties. The task of designing fault-tolerant assembles can be properly solved only if there is an adequate model of reliability parameters estimation. A two-stage method of reliability parameters estimation is proposed, in which at the first stage the “lifetime” of one unit in a complex failure-restoration cycle is determined, and at the second stage, the “lifetime” of the fault-tolerant assemble as a whole, is determined. To solve the problem of the second stage “lifetime” density sampling procedure is envisaged. The method of evaluation of the fault-tolerant assembles reliability parameters, with use of discrete model, is worked out.

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Title: Discrete Model of Mobile Robot Assemble Fault-Tolerance
Authors: Eugene Larkin
Alexey Bogomolov
Aleksandr Privalov
Publisher: Springer International Publishing
Book: Interactive Collaborative Robotics
Print ISBN: 978-3-030-26117-7

Electronic ISBN: 978-3-030-26118-4

Copyright Year: 2019
DOI: https://doi.org/10.1007/978-3-030-26118-4_20

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