Publications Details

Self-repairing control for damaged robotic manipulators

Eisler, G.R.; Robinett, R.D.; Dohrmann, C.R.; Driessen, B.J.

Algorithms have been developed allowing operation of robotic systems under damaged conditions. Specific areas addressed were optimal sensor location, adaptive nonlinear control, fault-tolerant robot design, and dynamic path-planning. A seven-degree-of-freedom, hydraulic manipulator, with fault-tolerant joint design was also constructed and tested. This report completes this project which was funded under the Laboratory Directed Research and Development program.