Force-Sensorless Fault Tolerant Detection and Switching Control of Tendon-Driven Mechanisms With Redundant Tendons.
Kiichi SuehiroRyuta OzawaKirill Van HeerdenPublished in: IEEE Robotics Autom. Lett. (2017)
Keyphrases
- fault tolerant
- force control
- control strategy
- robot manipulators
- impedance control
- fault tolerance
- position control
- control algorithm
- distributed systems
- closed loop
- control law
- contact force
- control strategies
- control method
- control system
- load balancing
- optimal control
- control scheme
- control architecture
- control structure
- safety critical
- state machine
- high availability
- fault isolation
- mathematical model