Architectures for fault-tolerant mechanical systems
D. Sreevijayan, Sabri Tosunoglu, Delbert Tesar · 2002
Fault tolerance is an increasingly important specification for advanced mechanical and electronic systems. In this paper we consider the architectural features of a technology that can realize this stringent specification in the domain of mechanical systems. We examine elements of a fault-tolerant mechanical architecture and a failure-responsive control system architecture that operates over it from the perspective of robotic manipulator systems.>