Robotic Fault Detection Using Nonlinear Analytical Redundancy

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dc.citation.conferenceDate2002en_US
dc.citation.conferenceNameIEEE International Conference on Robotics and Automationen_US
dc.citation.firstpage456
dc.citation.lastpage463
dc.citation.locationWashington, DCen_US
dc.contributor.authorLeuschen, Martin L.
dc.contributor.authorCavallaro, Joseph R.
dc.contributor.authorWalker, Ian D.
dc.contributor.orgCenter for Multimedia Communicationen_US
dc.date.accessioned2012-06-29T18:26:55Z
dc.date.available2012-06-29T18:26:55Z
dc.date.issued2002-05-01eng
dc.description.abstractIn this paper we discuss the application of our recently developed nonlinear analytical redundancy (NLAR) fault detection technique to a two-degree of freedom robot manipulator. NLAR extends the traditional linear AR technique to derive the maximum possible number of fault detection tests into the continuous nonlinear domain. The ability to handle nonlinear systems vastly expands the accuracy and viable applications of the AR technique. The effectiveness of the approach is demonstrated through an example.en_US
dc.description.sponsorshipNASAen_US
dc.description.sponsorshipNational Science Foundationen_US
dc.identifier.citationM. L. Leuschen, J. R. Cavallaro and I. D. Walker, "Robotic Fault Detection Using Nonlinear Analytical Redundancy," 2002.*
dc.identifier.doihttp://dx.doi.org/10.1109/ROBOT.2002.1013402en_US
dc.identifier.otherhttp://scholar.google.com/scholar?cluster=4705775035744441882&hl=en&as_sdt=0,44
dc.identifier.urihttps://hdl.handle.net/1911/64353
dc.language.isoengen
dc.publisherIEEEen_US
dc.subjectNLARen_US
dc.subjectNonlinear systemsen_US
dc.subjectAR techniqueen_US
dc.titleRobotic Fault Detection Using Nonlinear Analytical Redundancyen_US
dc.typeConference paperen_US
dc.type.dcmiTexten
dc.type.dcmiTexten_US
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