Kinematic Fault Tolerant Control of a Dual-Arm Robotic System Under Torque Faults.
Alessandro FreddiSauro LonghiAndrea MonteriùDavide OrtenziDaniele Proietti PagnottaPublished in: MESA (2018)
Keyphrases
- robotic systems
- joint space
- fault tolerant control
- control scheme
- degrees of freedom
- robotic manipulator
- control system
- stability analysis
- nonlinear systems
- mobile robot
- end effector
- vision system
- fault diagnosis
- control architecture
- dynamic model
- autonomous robots
- control law
- closed loop
- induction motor
- humanoid robot
- robotic arm
- control strategy
- multi robot
- real time
- genetic algorithm
- rough sets
- machine learning
- inverse kinematics
- neural network
- configuration space
- visual servoing
- real robot
- adaptive control
- motion planning
- fuzzy controller
- control algorithm
- path planning