Performance Evaluation of Fault-Tolerant Controllers in Robotic Manipulators

Thanks to the incorporation of robotic systems, the development of industrial processes has generated a great increase in productivity, yield and product quality. Nevertheless, as far as technological advancement permits a greater automation level, system complexity also increases, with greater number of components, therefore rising the probability of failures or anomalous operation. This can result in operator's hazard, difficulties for users, economic losses, etc. Robotic automatic systems, even if helped in minimizing human operation in control and manual intervention tasks, haven't freed them from failure occurrences. Although such failures can ́t be eliminated, they can be properly managed through an adequate control system, allowing to reduce degraded performance in industrial processes.