Fault detection for robot manipulators via second-order sliding modes

IEEE Transactions on Industrial Electronics

Volumn 55, Issue 11, 2008, Pages 3954-3963

  Brambilla, Daniele ^a   Capisani, Luca Massimiliano ^b   Ferrara, Antonella ^b   Pisu, Pierluigi ^c  

^a ENI S P A   (Italy)

^b UNIVERSITY OF PAVIA   (Italy)

^c AMRL   (United States)

Author keywords

Fault diagnosis; Fault location; Manipulators; Robustness; Variable structure systems

Indexed keywords

ELECTRIC FAULT LOCATION; FINITE DIFFERENCE METHOD; FLEXIBLE MANIPULATORS; INDUSTRIAL ROBOTS; MANIPULATORS; MODULAR ROBOTS; ROBOT APPLICATIONS; ROBOTICS; STABILITY;

FAULT DIAGNOSIS; FAULT LOCATION; FAULT SIGNALS; MODEL-BASED; OBSERVATION ERRORS; OUTPUT OBSERVERS; RIGID MANIPULATORS; ROBOT MANIPULATORS; ROBUSTNESS; SINGLE FAULTS; SLIDING MODES; SPECIFIC SENSORS; STABILITY PROPERTIES; VARIABLE STRUCTURE SYSTEMS;

FAULT DETECTION;

EID: 56349149188     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2008.2005932     Document Type: Article

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