Fault-tolerant control strategies for industrial robots: state of the art and future perspective on AI-based fault management

Abstract

Fault-tolerant control schemes are essential for affirming the safe and dependable operation of industrial robots. In this detailed review, we discuss the current developments in fault-tolerant control strategies for industrial robots. The main focus is given to highlight some major contributions in fault-tolerant control systems used in robotic manipulators with single or multiple joints, incorporating any linear or non-linear robust approach for industrial robots, design, and implementation. The paper also discusses adaptive fault-tolerant control of robots with sensor and/or actuator faults and unknown parameters, and fault-tolerant cooperative control of multiple robot teams for collaborative tasks. The present work provides a comprehensive overview of the recent advancements in fault-tolerant control strategies for industrial robots using both classical nonlinear methods as well as intelligent approaches using AI and machine learning, which will be useful for researchers and engineers working in this field.