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http://dx.doi.org/10.5302/J.ICROS.2004.10.10.899

Reconfiguration of Redundant Joints for Fault Tolerance of a Servo Manipulator  

박병석 (한국원자력연구소 원격취급장치개발)
안성호 (한국원자력연구소 원격취급장치개발)
윤지섭 (한국원자력연구소 원격취급장치개발)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.10, no.10, 2004 , pp. 899-906 More about this Journal
Abstract
In this paper, fault tolerant algorithm is presented for a servo manipulator system. For fault tolerance of a servo manipulator system, reconfiguration algorithm accommodating a motor's failure has been presented. The algorithm considers a transport's degree of freedoms as redundant joints of a servo manipulator. The reconfiguration algorithm recovers the end effector's motion in spite of one motor's failure A modified pseudo inverse redistribution method has been proposed for the reconfiguration algorithm. Numerical examples and hardware tests have been presented to verify the proposed methods.
Keywords
servo manipulator; redundant joints; fault tolerance; modified pseudo inverse redistribution;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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