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Fault tolerance of robot manipulators

Noureddine, Farid Fault tolerance of robot manipulators. (2004) In: AVCS’04, International Conference on Advances in Vehicle Control and Safety, I3M, IFAC, 28 October 2004 - 30 October 2004 (Genova, Italy).

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Abstract

This work is about the study of a fault tolerant rigid robot manipulator having five degrees of freedom. All the stages in the design of a fault tolerant system are described here. In order to simplify the fault detection process and isolation module only faults affecting joint 3 are considered. Fault accommodation relative to a locked joint 3 is established thanks to the kinematic redundancy of this robot.

Item Type:Conference or Workshop Item (Paper)
HAL Id:hal-02872156
Audience (conference):International conference proceedings
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Institution:Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
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Deposited On:16 Apr 2020 13:06

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