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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    Title :

    Self-repairing control for damaged robotic manipulators


    Contributors:

    Publication date :

    1997


    Size :

    43 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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