Control systems that ensure robot operation during failures are necessary, particularly when
manipulators are operating in hazardous or hard-to-reach environments. In such …

Nowadays, gas welding applications on vehicle's parts with robot manipulators have
increased in automobile industry. Therefore, the speed of end-effectors of robot manipulator …

This paper is concerned with the fault detection problem for underactuated manipulators
based on the Markovian jump model. The purpose is to design a fault detection filter such …

In this paper, the structure model and comprehensive measuring model of a redundant
parallel six-component force sensor is given. In order to proof the fault-tolerant characteristic …

In this paper a fault diagnosis approach for robotic manipulators, subject to faults of the joints
driving systems, is developed. A model-based diagnostic observer is adopted to detect …

This paper presents a task planner based on decision trees. Two different types of
cooperative tasks are described: common task and parallel task. In the first type of task two …

This work presents a new approach for designing decentralized receding horizon controllers
(DRHC) for cooperative multiple vehicle systems with inter-vehicle communication delays …

When a robot suffers a Free Swing Joint Failure, it becomes underactuated since some of its
actuated joints become passive. If the joints that remain actuated are locked, the robot can …

In practice, a large class of physical systems has variable structures subject to random
changes. These may result from abrupt phenomena such as component and interconnection …

This paper develops two fault-tolerant control strategies for robot manipulators. The first is
based on linear parameter-varying systems and the second on Markovian jump linear …