Functionability Analysis of Redundant Systems having Multiple Configurations

摘要

This paper deals with the functional performance analysis of various allowed configurations of a redundant mechatronics system. A new indicator called functionability is proposed, which evaluates the performance level of each possible configuration of a redundant system. This analysis is an off-line method, which is further extended for on-line reconfiguration of the system in case of faulty components. The proposed functionability analysis is illustrated through an example of a redundant electrical system. Finally, the analysis is annlied to a four wheeled mobile robot called Robucar.