A Hybrid Approach for Fault Tolerance in Robotics

This paper studies the difference between the human behaviours for fault tolerance with a pseudo inverse reconfiguration approach for fault tolerance of robotic arms. If this difference is well understood then it can be used to introduce a hybrid approach for fault tolerant motion of robotic arms. The proposed approach is expected to combine human fault- tolerance dexterity and advantages of a model based fault tolerance. The main aim is to add human dexterity for fault tolerance of robotic arms

Keywords:

fault tolerance , robotic arms , human arm motion , reliability , safety , and reconfiguration control