ORIGINAL RESEARCH article
Front. Mech. Eng.
Sec. Mechatronics
Volume 11 - 2025 | doi: 10.3389/fmech.2025.1610923
Application of Improved A-Star Algorithm in Fault Tolerant Control of Robotic Arm in Nuclear Industry
Provisionally accepted
Nianwei Hu*
Jinlin Chen- Henan Polytechnic Institute, Nanyang, China
Select one of your emails
You have multiple emails registered with Frontiers:
Notify me on publication
Please enter your email address:
If you already have an account, please login
You don't have a Frontiers account ? You can register here
Abstract: Nuclear industry robots are in high radiation environment for a long time, which leads to the robot robotic arm is prone to mechanical failure and other situations to reduce the effect of fault tolerant control of robotic arm. Therefore, the study suggests a technique of fault tolerant control of robotic arms with modified A-Star algorithm to increase the fault tolerant control effect of robotic arms under high radiation environments. The new technique plans and optimizes the robotic arm's course using the enhanced A-Star algorithm sliding mode control is also added to realize the fault tolerant control of robot. The results of the study indicated that the running time of the robotic arm after using the improved A-Star algorithm was reduced by 1.92s compared with other algorithms, and the path cost was reduced by 1.46m compared with other algorithms. Moreover, the performance of the robotic arm under the improved A-Star algorithm was able to achieve 99% of the motion performance. In different environments, the deviation of the robotic arm's movement path was reduced by 1.5m compared with other methods. The deviation angle of the robotic arm after using the sliding mode control method was only 0.04rad at the lowest level, which had a better control effect compared with other methods of sliding mode control. Finally, there was a significant improvement in the fault tolerant control of the system when using the improved A-Star algorithm and sliding mode control. It can be concluded that there is a significant improvement in the fault tolerant control effect of the robotic arm after using different methods. This is a good guide for the research of fault tolerant control of nuclear industrial robots.
Keywords: A-star algorithm, sliding mode control, Nuclear industrial robots, fault tolerant control, path planning
Received: 13 Apr 2025; Accepted: 25 Aug 2025.
Copyright: © 2025 Hu and Chen. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
* Correspondence: Nianwei Hu, Henan Polytechnic Institute, Nanyang, China
Disclaimer: All claims expressed in this article are solely those of the authors and do not necessarily represent those of their affiliated organizations, or those of the publisher, the editors and the reviewers. Any product that may be evaluated in this article or claim that may be made by its manufacturer is not guaranteed or endorsed by the publisher.