Motion Tracking of a Rigid-Flexible Link Manipulator in a Controller Failure Condition
摘要
The paper presents its contribution to tracking control of systems in failure work conditions. The example we examine is a three link planar manipulator with rigid and flexible links, for which one of actuators fails during its work. The work task for the manipulator is defined by the programmed constraints. The CoPCoD method is used to derive the reference motion dynamics and the tracking control after failure of one of manipulator actuators.