Title :
Fault tolerance of a functionally adaptive and robust manipulator
Author :
Kotosaka, Shin ; Asama, Hajime ; Kaetsu, Hayato ; Endo, Isao ; Sato, Katsuhiko ; Okada, Satoshi ; Nakayama, Ryoichi
Author_Institution :
Graduate Sch. of Sci. & Eng., Saitama Univ., Japan
Abstract :
The authors describe the basic design of Fun-ARM, and discuss the strategy of the fault tolerance on distributed manipulator. The fault model is described, and assumptions in the system are discussed. The methods to realize fault tolerance are proposed, including methods for fault-detection, fault-localization and fault-containment
Keywords :
manipulators; Fun-ARM; distributed manipulator; fault model; fault tolerance; fault-containment; fault-detection; fault-localization; Centralized control; Control systems; Distributed control; Fault tolerance; Fault tolerant systems; Force sensors; Global Positioning System; Manipulators; Path planning; Robustness;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583113
