A fault tolerant manipulator robot based on /spl Hscr//sub 2/, /spl Hscr//sub /spl infin//, and mixed /spl Hscr//sub 2///spl Hscr//sub /spl infin// Markovian controls

This paper develops a Markovian model to describe the fault occurrence in a manipulator robot of three joints. Based on the model developed, a comparative study of three Markovian controllers, /spl Hscr//sub 2/, /spl Hscr//sub /spl infin//, and mixed /spl Hscr//sub 2///spl Hscr//sub /spl infin//, applied in an actual manipulator robot of three joints subject to one and two consecutive faults, is presented.