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Proceedings Paper

A method of a defect estimation for a mechanical system in an actuator and link in a rigid manipulator using control theory
Author(s): Rai Wung Park
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Paper Abstract

The aim of this work is to present an advanced method of estimation of the system defects coming up in robot links and actuators. Considering a fictitious model, a new extended system equation is set up. Based on this extended model an observer is designed for the detection of faults and an observer bank is proposed of faults.

Paper Details

Date Published: 2 May 2006
PDF: 9 pages
Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60420U (2 May 2006); doi: 10.1117/12.664577
Show Author Affiliations
Rai Wung Park, Daebul Univ. (South Korea)


Published in SPIE Proceedings Vol. 6042:
ICMIT 2005: Control Systems and Robotics
Yunlong Wei; Kil To Chong; Takayuki Takahashi; Shengping Liu; Zushu Li; Zhongwei Jiang; Jin Young Choi, Editor(s)

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