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30 October 1996 Systemwide joint position sensor fault tolerance in robot systems using Cartesian accelerometers
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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.
© (1996) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Hal A. Aldridge and Jer-Nan Juang "Systemwide joint position sensor fault tolerance in robot systems using Cartesian accelerometers", Proc. SPIE 2905, Sensor Fusion and Distributed Robotic Agents, (30 October 1996); https://doi.org/10.1117/12.256320
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