• DocumentCode
    309397
  • 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
  • Volume
    1
  • fYear
    1993
  • fDate
    26-30 Jul 1993
  • Firstpage
    294
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • 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
  • Type

    conf

  • DOI
    10.1109/IROS.1993.583113
  • Filename
    583113
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=309397