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In this paper a fault diagnosis approach for sensor faults in cooperative robotic manipulators involved in interaction tasks is presented. The approach is developed for a two-arm cooperative workcell, although it can be easily applied to single-manipulator systems. A bank of discrete-time model-based diagnostic observers is adopted to detect, isolate and identify failures of both sensors at the joints...
This paper proposes a new smooth touch control to unknown environments for industrial robot. The touch control is one of the useful methods for the smooth force control. Many applications of the manipulator should have a high stiffness position control method. However, the controller has no flexibility to the environments. Therefore, a method of high performance force control is an important factor...
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