By Topic

A model-based fault function approximation scheme for robot manipulators using M-ANFIS

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Yüksel, T. ; Dept. of Electr. & Electron. Eng., Ondokuz Mayis Univ., Kurupelit-Samsun, Turkey ; Sezgin, A.

Robots, as complex systems, must detect and isolate faults with high probabilities while doing their tasks with humans or other robots with high precision and they should tolerate the fault with the controller. This necessity forced researchers to design various fault detection and isolation (FDI) for robot manipulators, mobile robots and mobile manipulators. In addition to FDI, a scheme should approximate fault function to give exact information about the fault. In this study, a model-based fault function approximation scheme for robot manipulators using M-ANFIS is proposed.

Published in:

MELECON 2010 - 2010 15th IEEE Mediterranean Electrotechnical Conference

Date of Conference:

26-28 April 2010