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A distributed fault detection scheme for modular and reconfigurable robots (MRRs) with joint torque sensing is proposed in this paper. With the proposed scheme, the joint torque command is filtered and compared with a filtered torque estimate derived from the nonlinear dynamic model of MRR with joint torque sensing. Common joint actuator faults are considered with fault detection being performed independently...
This paper presents the multiple mode control system of a compact wrist, which can work in active mode with position or torque control, or passive mode with wrist-environment interactive force compensation. Passive mode is realized without using mechanical solutions such as a clutch, which not only saves weight and volume of the wrist, but also avoids losing track of the joints’ position while switching...
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