Controladores Tolerantes a Fallas en Manipuladores Robóticos. Evaluaciones de Desempeño
(Fault-Tolerant Controllers in Robotic Manipulators. Performance Evaluations)
Claudio Urrea (email@example.com), John Kern (firstname.lastname@example.org)
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
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.
Fault tolerance, manipulator robots, evaluation.
Documents that cite this
This function is not implemented yet.
[PDF Full-Text (743)]