Share Email Print

Proceedings Paper

Systemwide joint position sensor fault tolerance in robot systems using Cartesian accelerometers
Author(s): Hal A. Aldridge; Jer-Nan Juang
Format Member Price Non-Member Price
PDF $14.40 $18.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

Paper Abstract

Joint position sensors are necessary for most robot control systems. A single position sensor failure in a normal robot system can greatly degrade performance. This paper presents a method to obtain position information from Cartesian accelerometers without integration. Depending on the number and location of the accelerometers, the proposed system can tolerate the loss of multiple position sensors. A solution technique suitable for real-time implementation is presented. Simulations were conducted using 5 triaxial accelerometers to recover from the loss of up to 4 joint position sensors on a 7 degree of freedom robot moving in general three dimensional space. The simulations show good estimation performance using non-ideal accelerometer measurements.

Paper Details

Date Published: 30 October 1996
PDF: 9 pages
Proc. SPIE 2905, Sensor Fusion and Distributed Robotic Agents, (30 October 1996); doi: 10.1117/12.256320
Show Author Affiliations
Hal A. Aldridge, NASA Langley Research Ctr. (United States)
Jer-Nan Juang, NASA Langley Research Ctr. (United States)

Published in SPIE Proceedings Vol. 2905:
Sensor Fusion and Distributed Robotic Agents
Paul S. Schenker; Gerard T. McKee, Editor(s)

© SPIE. Terms of Use
Back to Top