Toward State-Unsaturation Guaranteed Fault Detection Method in Visual Servoing of Soft Robot Manipulators
Haoyuan Gu,Hesheng Wang,Weidong Chen,Haoyuan Gu,Hesheng Wang,Weidong Chen
This paper puts forward a novel sensor-less fault detection method with only task errors feedback and applies it to visual servoing tasks of soft robot manipulators. The method is developed by introducing a suitably designed endogenous accessory signal (EAS). On the one hand, EAS transforms the change of jacobian matrix led by faults into the change of task errors, which enables the fault to be di...
