Estudo de implementação de modelo de tolerância a falhas em um robô para inspeção de linha de alta tensão

Abstract

With the constant need for more reliability and availability of industrial equipment, it becomes increasingly necessary to ensure that complex equipment can deliver what is expected of them and for this purpose this work presents a study for the implementation of fault tolerance techniques in a robot for high voltage line inspection, using a numerical simulation of a manipulator with two axes for conceptual validation by the presence of sets with the same configuration in the inspection robot. The simulation was performed using MATLAB using the robotics library to create the manipulator model and generate the inverse transform allowing the manipulator to move. The concepts of time limit detection and reconfiguration through rollback were also implemented. From the results it was possible to see how the use of fault tolerance techniques takes a system that is in a state of failure to a point where its operation is possible, but has a lower performance than the system without the failure.