Hybrid System for Fault Tolerance in Selective Compliance Assembly Robot Arm: Integration of Differential Gears and Coordination Algorithms

Hybrid System for Fault Tolerance in Selective Compliance Assembly Robot Arm: Integration of Differential Gears and Coordination Algorithms

This study presents a fault-tolerant control system for Selective Compliance Assembly Robot Arm (SCARA) robots, ensuring operational continuity in cooperative tasks. It is evaluated in five scenarios: normal operation, failures without reconfiguration, and with active reconfiguration. The system emp...

Full description

Saved in:
Bibliographic Details
Main Authors: Claudio Urrea, Pablo Sari, John Kern
Format: Article
Language:English
Published: MDPI AG 2025-01-01
Series:Technologies
Subjects:
fault-tolerant control
SCARA robotics
cooperative coordination
active redundancy
MATLAB simulations
differential gears
Online Access:https://www.mdpi.com/2227-7080/13/2/47
Tags: Add Tag
No Tags, Be the first to tag this record!

Internet

https://www.mdpi.com/2227-7080/13/2/47

Similar Items