Failure detection and isolation in robotic manipulators using joint torque sensors.
Mehrzad NamvarFarhad AghiliPublished in: Robotica (2010)
Keyphrases
- failure detection
- robotic manipulator
- position control
- control scheme
- control system
- robotic systems
- closed loop
- fault detection
- degrees of freedom
- real time
- force control
- end effector
- robot arm
- visual servoing
- control strategies
- multiple models
- control strategy
- robot manipulators
- contact force
- dynamic model
- highly reliable
- control law
- dc motor
- pid controller
- soft computing