Controladores Tolerantes a Fallas en Manipuladores Robóticos. Evaluaciones de Desempeño (Fault-Tolerant Controllers in Robotic Manipulators. Performance Evaluations)

Claudio Urrea (, John Kern (

Grupo de Automática. Departamento de Ingeniería Eléctrica. Universidad de Santiago de Chile.
This paper appears in: Revista IEEE América Latina

Publication Date: Dec. 2013
Volume: 11,   Issue: 6 
ISSN: 1548-0992

In this paper performance evaluation of three fault-tolerance controllers based on the following control techniques: hyperbolic sine and hyperbolic cosine, calculated torque, and adaptive inertia; applied to manipulator robots is presented. Various tests are developed in a simulation environment, which is developed by employing MatLab/Simulink programming tools, when the manipulator must follow a desired trajectory and one of its actuators is locked. The results are obtained by means of curves and rms index of joint and Cartesian errors for each controller.

Index Terms:
Fault tolerance, manipulator robots, evaluation.   

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