Fault tolerant distributed control of manipulator with visual serving

被引：0
|
作者：
Senda, K [1 ]
Nishibu, S [1 ]
Mano, S [1 ]
机构：
[1] Kanazawa Univ, Kanazawa, Ishikawa 9208667, Japan
来源：
SICE 2003 ANNUAL CONFERENCE, VOLS 1-3 | 2003年
关键词：
fault tolerance; distributed control; redundant manipulators;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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 modularization, where each module is composed of control devices, mechanisms, and a processor implemented by the controller. In addition, the modules can to be exchanged with others without changing control law. The validity and the above characteristics are examined theoretically as well as through numerical simulations.
引用
收藏
页码：304 / 308
页数：5
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