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Journal Information-measuring and Control Systems №4 for 2013 г.
Article in number:
A method for the synthesis of accommodation to defects in electric actuators of manipulation robots
Keywords: diagnostics fault tolerance control DC motor multilink manipulator
Authors:
V.F. Filaretov, A.N. Zhirabok, A.V. Zuev, A.A. Procenko
Abstract:
In this paper, a method for the synthesis of an effective fault tolerance control system for actuators of multilink manipulators described by nonlinear differential equations with variable parameters is proposed. This system due to specifically formed additional control signal ensures insensitivity to faults appearing in actuators. This allows ensuring the efficiency of manipulators during its operation. The results of simulation confirmed the efficiency of the proposed method.
Pages: 26-33
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