HEAL DSpace

Failure Recovery Control for Space Robotic Systems

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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


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