Fault tolerant distributed control of manipulator with visual serving [for serving read servoing]

This study proposes distributed control to realize a highly fault tolerant manipulator system using the redundancy. Even if some joints are broken down and locked, the asymptotic stability of the same control is preserved and the desired task is achieved. The proposed control system is suitable for...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Senda, K., Nishibu, S., Mano, S.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Actuators Asymptotic stability Control systems Distributed control Fault tolerance Fault tolerant systems Manipulator dynamics Numerical simulation Redundancy Sensor systems
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