Failure tolerant teleoperation of a kinematically redundant manipulator: an experimental study.
Manish GoelAnthony A. MaciejewskiVenkataramanan BalakrishnanRobert W. ProctorPublished in: IEEE Trans. Syst. Man Cybern. Part A (2003)
Keyphrases
- master slave
- robotic arm
- robotic manipulator
- end effector
- degrees of freedom
- computer controlled
- laparoscopic surgery
- robot manipulators
- inverse kinematics
- highly redundant
- path planning
- control system
- failure detection
- contact force
- motion planning
- control scheme
- failure rate
- robotic systems
- dynamic model
- mobile robot
- failure prediction
- control architecture
- failure modes
- feature selection
- component failures