Disturbance Observer-Based Force Estimation and Fault Detection for Robotic Manipulator in Radioactive Environments

Disturbance Observer-Based Force Estimation and Fault Detection for Robotic Manipulator in Radioactive Environments

Robotic systems with force sensing have great potential for use in radioactive environments. In this study, a modified observer-based method was developed to calculate the unknown external force without adding a redundant sensor and achieve the fault detection in the presence of a force sensor. A dy...

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Bibliographic Details
Main Authors: Huaimin Liu, Xiangjiang Wang, Liuyang Chen
Format: Article
Language:English
Published: IEEE 2022-01-01
Series:IEEE Access
Subjects:
Robotic manipulator
observer-based
force estimation
fault detection
Online Access:https://ieeexplore.ieee.org/document/9905562/

Internet

https://ieeexplore.ieee.org/document/9905562/

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