Failure Recovery Control for Space Robotic Systems

Papadopoulos, E; Dubowsky, S

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Dubowsky, S	en
dc.date.accessioned	2014-03-01T01:40:22Z
dc.date.available	2014-03-01T01:40:22Z
dc.date.issued	1991	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/23173
dc.relation.uri	http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4791629	en
dc.relation.uri	http://nereus.mech.ntua.gr/pdf_ps/ACC91.pdf	en
dc.subject	Failure Recovery	en
dc.subject	Space Robotics	en
dc.title	Failure Recovery Control for Space Robotic Systems	en
heal.type	journalArticle	en
heal.publicationDate	1991	en
heal.abstract	The problem of controlling a failed joint of a space manipulator is addressed. It is shown that failure recovery control may be possible when dynamic coupling exists between the link whose joint has failed and some other link whose joint is working, and when the system inertia matrix is invariant with respect to the failed joint angle. A failure recovery	en