Fault Adaptive Kinematic Control Using Multiprocessor System and its Verification Using a Hyper-redundant Manipulator.
Shinichi KimuraShigeru TsuchiyaTomoki TakagiShinichiro NishidaPublished in: J. Robotics Mechatronics (2001)
Keyphrases
- end effector
- control method
- degrees of freedom
- control system
- inverse kinematics
- adaptive control
- parallel manipulator
- robotic arm
- master slave
- robot manipulators
- robotic manipulator
- visual servoing
- control strategy
- fault detection
- fault diagnosis
- wheeled mobile robots
- normal operation
- model checking
- computer controlled
- adaptive neural
- robot arm
- scheduling algorithm
- adaptive fuzzy
- pose estimation
- database machines
- joint space
- vision system
- real time
- fault tolerant control