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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| Formato: | article |
| Idioma: | eng |
| Publicado em: |
2008
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| Texto completo: | http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592008000400004 |
| País: | Brasil |
| Oai: | oai:scielo:S0103-17592008000400004 |