id	author	title	date	pages	extension	mime	words	sentences	flesch	summary	cache	txt
work_cjaafgvvdrcvhjnqlmkv42z6qm	M.L. Visinsky	Expert system framework for fault detection and fault tolerance in robotics	1994	20	.pdf	application/pdf	7565	714	67	Before fault tolerant capabilities can be created, methods of detecting and pinpointing failures must be perfected. develops a basic fault tree analysis of a robot in order to obtain and fault detection schemes, the problems involved in detecting failures for robots are explored in more depth. This paper develops a basic fault tree analysis of robots in order to obtain a For the equivalent redundancy based robot fault tolerant algorithms, two motors have been placed in each robot joint to The resulting expert system package, Robo-MEDIC (Robot Manipulator Error Detection and Intelligent Correction) will provide diagnostic assistance to the operator and will interface with In addition to the fault tree analysis, we are examining failures and testing fault detection schemes using a simulation of this information and to show how modeling errors or other uncertainties affect fault detection, we need to simulate the robot robot and then the sensors to the fault detection program and	./cache/work_cjaafgvvdrcvhjnqlmkv42z6qm.pdf	./txt/work_cjaafgvvdrcvhjnqlmkv42z6qm.txt