## 抄録

The controller design of manipulator which has a fault joint is an important issue for robotic systems operating in hazardous or remote environments. In this paper, the trajectory control for redundant manipulator with free-swinging joint because of unexpected failure is represented. The difficulty for controlling fault actuators without mechanical brakes because of the free movements under the influence of dynamical effects, such as interactive torque, gravity and so on, is well known. Hence the control strategies using joint dynamics model have been developed mainly in past study. In this paper, the tracking a trajectory without an exact calculation of such dynamical effects and a braking effect is realized by using workspace observer. Therefore the calculation of the proposed system is drastically decreased because the workspace observer compensates the disturbance of fault joints including dynamical effects.

本文言語 | English |
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ページ | 1120-1124 |

ページ数 | 5 |

出版ステータス | Published - 1998 |

イベント | Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4) - Aachen, Ger 継続期間: 1998 8月 31 → 1998 9月 4 |

### Other

Other | Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4) |
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City | Aachen, Ger |

Period | 98/8/31 → 98/9/4 |

## ASJC Scopus subject areas

- 制御およびシステム工学
- 電子工学および電気工学