Algorithms have been developed allowing operation of robotic systems under damaged conditions. Specific areas addressed were optimal sensor location, adaptive nonlinear control, fault-tolerant robot design, and dynamic path-planning. A seven-degree-of-freedom, hydraulic manipulator, with fault-tolerant joint design was also constructed and tested. This report completes this project which was funded under the Laboratory Directed Research and Development program.


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    Titel :

    Self-repairing control for damaged robotic manipulators


    Beteiligte:
    G. R. Eisler (Autor:in) / R. D. Robinett (Autor:in) / C. R. Dohrmann (Autor:in) / B. J. Driessen (Autor:in)

    Erscheinungsdatum :

    1997


    Format / Umfang :

    43 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




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