scholarly journals Performance Evaluation of Fault-Tolerant Controllers in Robotic Manipulators

10.5772/14509 ◽  
2012 ◽  
Author(s):  
Claudio Urrea ◽  
John Kern ◽  
Holman Ortiz
Keyword(s):  
Performance Evaluation ◽  
Fault Tolerant ◽  
Robotic Manipulators

scholarly journals Planning Fail-Safe Trajectories for Space Robotic Arms

2021 ◽  
Vol 8 ◽  
Author(s):  
Oliver Porges ◽  
Daniel Leidner ◽  
Máximo A. Roa
Keyword(s):  
Degrees Of Freedom ◽  
Fault Tolerant ◽  
Robotic Manipulators ◽  
Task Completion ◽  
Joint Failure ◽  
Space Applications ◽  
Robotic Arms ◽  
Hazardous Environments ◽  
Potential Risks ◽  
Fail Safe

A frequent concern for robot manipulators deployed in dangerous and hazardous environments for humans is the reliability of task executions in the event of a joint failure. A redundant robotic manipulator can be used to mitigate the risk and guarantee a post-failure task completion, which is critical for instance for space applications. This paper describes methods to analyze potential risks due to a joint failure, and introduces tools for fault-tolerant task design and path planning for robotic manipulators. The presented methods are based on off-line precomputed workspace models. The methods are general enough to cope with robots with any type of joint (revolute or prismatic) and any number of degrees of freedom, and might include arbitrarily shaped obstacles in the process, without resorting to simplified models. Application examples illustrate the potential of the approach.

Performance Evaluation of Fault-Tolerant Neutral-Point-Clamped Converters

2010 ◽  
Vol 57 (8) ◽  
pp. 2709-2718 ◽  
Author(s):  
S Ceballos ◽  
J Pou ◽  
E Robles ◽  
J Zaragoza ◽  
José Luís Martín
Keyword(s):  
Performance Evaluation ◽  
Fault Tolerant ◽  
Neutral Point
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