Real time fault tolerant control of robot manipulators

Authors:
A. Noore
Affiliations:
Lane Department of Computer Science and Electrical Engineering West Virginia University Morgantown, WV 26506, U.S.A.
Venue:
Mathematical and Computer Modelling: An International Journal
Year:
2003

Citing 3
Cited 0

Fault Tolerance Techniques for Systolic Arrays

Computer
A new method of dynamics for robot manipulators

IEEE Transactions on Systems, Man and Cybernetics
Why Systolic Architectures?

Computer

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Abstract

The complexity of computing the generalized forces or torques acting at the joints of a robot manipulator with n degrees of freedom directly effects the speed and accuracy of control. For real-time robust control, the large number of mathematical computations performed must satisfy the speed requirements and must also be error-free. In this paper, a combination of parallel and distributed processing techniques are proposed to compute the generalized forces using the Lagrangian formulation. The complexity of computation is reduced from the order @q(n^3) to @q(n). It is shown that with minor modification in the architecture, all single errors that occur during computation can be detected, located, and corrected for robust control.