Research on fault-tolerant control of dynamically redundant manipulators

Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics

Volumn 26, Issue 6, 2000, Pages 726-730

  Chen, W H ^a   Wu, Z ^a   Ding, X L ^a   Zhang, Q X ^a  

^a BEIHANG UNIVERSITY   (China)

Author keywords

Control; Dynamics; Fault tolerant; Redundancy; Robots

Indexed keywords

CONTROL THEORY; FAULT TOLERANT COMPUTER SYSTEMS; MANIPULATORS; REDUNDANCY; SIMULATION;

DYNAMICALLY REDUNDANT MANIPULATORS; FAULT TOLERANT; JOINT TORQUE REDISTRIBUTION ALGORITHM;

ROBOTS;

EID: 0034434011     PISSN: 10015965     EISSN: None     Source Type: Journal    
DOI: None     Document Type: Article

References (11)

1. Fault-tolerant properties of kinematically redundant manipulators
2. Fault-tolerant joint development for the space shuttle remote manipulator system: Analysis and experiment
3. Agent-based design of fault tolerant manipulators for satellite docking
4. An example of failure tolerant operation of a kinematically redundant manipulator
5. Control algorithms for fault-tolerant robots
6. Mapping tasks into fault tolerant manipulators
7. Real-time failure-tolerant control of kinematically redundant manipulators
8. Torque redistribution method for fault recovery in redundant serial manipulators