Robot Position Sensor Fault Tolerance

Abstract

Contents 1. INTRODUCTION AND LITERATURE SEARCH ........................................1-1 1.1 JUSTIFICATION FOR FAULT TOLERANCE IN ROBOTICS.................................................................1-1 1.2 GENERAL PURPOSE FAULT TOLERANCE...................................................................................1-3 1.2.1 Failure detection and identification (FDI)..........................................................................1-3 1.2.2 Fault recovery.............................................................................................................1-3 1.3 ROBOT FAULT TOLERANCE ..................................................................................................1-4 1.3.1 Robot joint failure detection and identification ..................................................................1-4 1.3.2 Robot joint failure recovery...................