Real time fault tolerant control of robot manipulators
نویسندگان
چکیده
منابع مشابه
Optimal discrete-time control of robot manipulators in repetitive tasks
Optimal discrete-time control of linear systems has been presented already. There are some difficulties to design an optimal discrete-time control of robot manipulator since the robot manipulator is highly nonlinear and uncertain. This paper presents a novel robust optimal discrete-time control of electrically driven robot manipulators for performing repetitive tasks. The robot performs repetit...
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The trajectory generation problem for fault-tolerant robot manipulators is considered. A new technique which extends the Inverse Kinematics optimization approach to the case of robots with actuator faults is proposed. A bound on the second-order non-integrable constraints resulting from underactuation is assumed, and the trajectory generation problem is formulated as a nonlinear time-varying st...
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ژورنال
عنوان ژورنال: Mathematical and Computer Modelling
سال: 2003
ISSN: 0895-7177
DOI: 10.1016/s0895-7177(03)90002-1