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Cable failure tolerant control and planning in a planar reconfigurable cable driven parallel robot.

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第一作者： Adhiti,Raman

第一单位： Clemson University, Automotive Engineering, Greenville, SC, United States.

作者： Adhiti,Raman ^[1] ; Ian,Walker ^[2] ; Venkat,Krovi ^[1] ; Matthias,Schmid ^[1]

作者单位： Clemson University, Automotive Engineering, Greenville, SC, United States. ^[1] Clemson University, Electrical/Computer Engineering, Clemson, SC, United States. ^[2]

关键词 EKF (extended kalman filter)FDD (fault diagnosis and detection)FTC (fault tolerant control)IMM (interacting multiple model) algorithm LQR (linear quadratic regulator) control Reconfigurable CDPR (Cable Driven Parallel Robot)redundancy resolution switching control

DOI 10.3389/frobt.2023.1070627

PMID 37265744

发布时间 2023-06-04

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Cable failure tolerant control and planning in a planar reconfigurable cable driven parallel robot.

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Cable failure tolerant control and planning in a planar reconfigurable cable driven parallel robot.

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