Fault tolerant dynamic control for manipulators

A fault tolerant manipulator can be expected to perform a desired task even if a joint actuator fails. When a manipulator experiences a joint actuator failure, it can be considered as an underactuated mechanical system. An underactuated serial link manipulator can be controlled by using the coupling...

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Bibliographic Details

Published in:	Philippine Engineering Journal 27, 1 (2006).
Main Author:	Ramos, Manuel C. Jr
Format:	Article
Language:	English
Subjects:	Fault-tolerance. Redundant. Reduced-order. Underactuated. Dynamic. Manipulator.
Online Access:	Also available online for University of the Philippines Diliman. Click here