Fault Tolerant Control Architecture Design for Mobile Manipulation in Scientific Facilities

This paper describes one of the challenging issues implied by scientific infrastructures on a mobile robot cognition architecture. For a generally applicable cognition architec‐ ture, we study the dependencies and logical relations between several tasks and subsystems. The overall view of the software modules is described, including their relation‐ ship with a fault management module that monitors the consistency of the data flow among the modules. The fault management module is the solution of the deliberative architecture for the single point failures, and the safety anchor is the reactive solution for the faults by redundant equipment. In addition, a hardware architecture is pro‐ posed to ensure safe robot movement as a redundancy for the cognition of the robot. The method is designed for a four-wheel steerable (4WS) mobile manipulator (iMoro) as a case study.