Fault-tolerant control and optimal operation of redundant robotic manipulators

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 1998, Pages 2703-2708

  Koivo, A J ^a   Ramos, M ^a  

^a PURDUE UNIVERSITY   (United States)

Author keywords

Actuators; Equations; Fault tolerance; Jacobian matrices; Manipulators; Optimal control; Orbital robotics; Reduced order systems; Redundancy; Robot kinematics

Indexed keywords

ACTUATORS; FAULT TOLERANCE; JACOBIAN MATRICES; REDUNDANCY; ROBOTICS; COMPUTER SIMULATION; FAULT TOLERANT COMPUTER SYSTEMS; ITERATIVE METHODS; MATHEMATICAL MODELS; MATHEMATICAL TRANSFORMATIONS; OPTIMAL CONTROL SYSTEMS; OPTIMIZATION; TORQUE CONTROL;

EQUATIONS; OPTIMAL CONTROLS; ORBITAL ROBOTICS; REDUCED ORDER SYSTEMS; ROBOT KINEMATICS;

MANIPULATORS;

CARTESIANS;

EID: 0031626423     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.680754     Document Type: Conference Paper

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