Control of robot manipulators with consideration of actuator performance degradation and failures

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2001, Pages 2566-2571

  Liu, G ^a  

^a RYERSON UNIVERSITY   (Canada)

Author keywords

Actuator failure; Adaptive control; Fault tolerant control; Robot fault detection

Indexed keywords

ACTUATORS; ADAPTIVE ALGORITHMS; ADAPTIVE CONTROL SYSTEMS; COMPUTER SIMULATION; FAILURE ANALYSIS; PARAMETER ESTIMATION; ROBOTICS;

FAULT TOLERANT CONTROL SYSTEMS;

MANIPULATORS;

EID: 0034868854     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (15)

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14. A dynamic fault tolerance framework for remote robots
15. Reliable state feedback control systems design against actuator failures