A fault detection and isolation system for cooperative manipulators

The problem of fault detection and isolation (FDI) in cooperative manipulators is addressed in this paper. Four FDI procedures are developed to deal with free-swinging joint faults, locked joint faults, incorrectly measured joint position, and incorrectly measured joint velocity. Free-swinging and l...

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Bibliographic Details
Main Author: Tinós,Renato (author)
Other Authors: Terra,Marco Henrique (author)
Format: article
Language:eng
Published: 2008
Subjects:
Fault Detection
Fault Isolation
Robotic Manipulators
Co-operation
Neural Networks
Online Access:http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592008000400004
Country:Brazil
Oai:oai:scielo:S0103-17592008000400004

Internet

http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592008000400004

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