{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,19]],"date-time":"2026-01-19T03:12:39Z","timestamp":1768792359790,"version":"3.49.0"},"reference-count":22,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2009,1,1]],"date-time":"2009-01-01T00:00:00Z","timestamp":1230768000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2009,1]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper presents an adaptive actuator failure compensation method, which compensates for uncertainties due to unknown actuator failures for redundant manipulator systems. The method is first developed for manipulators whose joints are concurrently actuated. While physical realization of concurrently actuated manipulators and the advantages of their use have been understood before, in this paper failure modeling, controller structure, and adaptive update rules for handling uncertainties from the actuator failures are studied. The adaptive actuator failure compensation method is then expanded for a cooperating multiple manipulator system with uncertain actuator failures. Dynamic equations of such a multiple manipulator system in the task space are derived and the adaptive actuator failure compensation problem is formulated in the task space, for which a compensation controller structure is proposed with stable adaptive parameter update laws. The adaptive control scheme is able to compensate for the uncertainties of system parameters and actuator failures in a more general sense. For both cases, closed-loop system stability and asymptotic tracking are proved, despite uncertain system failures.<\/jats:p>","DOI":"10.1017\/s0263574708004487","type":"journal-article","created":{"date-parts":[[2008,4,3]],"date-time":"2008-04-03T08:33:42Z","timestamp":1207211622000},"page":"19-28","source":"Crossref","is-referenced-by-count":11,"title":["Adaptive actuator failure compensation for redundant manipulators"],"prefix":"10.1017","volume":"27","author":[{"given":"E. Faruk","family":"Kececi","sequence":"first","affiliation":[]},{"given":"Xidong","family":"Tang","sequence":"additional","affiliation":[]},{"given":"Gang","family":"Tao","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,1,1]]},"reference":[{"key":"S0263574708004487_ref17","first-page":"1115","article-title":"An adaptive control scheme for systems with unknown actuator failures","volume":"2","author":"Tao","year":"2001","journal-title":"Proc. Am. Control Conf."},{"key":"S0263574708004487_ref6","first-page":"3628","article-title":"Fault detection for robot manipulators with parametric uncertainty: A prediction error based approach","volume":"4","author":"Dixon","year":"2000","journal-title":"Int. Conf. Robot. Autom."},{"key":"S0263574708004487_ref3","doi-asserted-by":"crossref","first-page":"115","DOI":"10.1109\/ROBOT.1998.676329","article-title":"Real-time control of redundant robots subject to multiple criteria","volume":"1","author":"Li","year":"1998","journal-title":"Int. Conf. Robot. Autom."},{"key":"S0263574708004487_ref19","first-page":"2159","article-title":"Machine-vision-based estimation of pose and size parameters from a generic workpiece description","volume":"3","author":"Kececi","year":"2001","journal-title":"Int. Conf. Robot. Autom."},{"key":"S0263574708004487_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/9.186316"},{"key":"S0263574708004487_ref1","doi-asserted-by":"crossref","unstructured":"1. Choi M. R. , \u201cRedundancy resolution by minimization of joint disturbance torque for independent joint controlled manipulators,\u201d Int. Conf. Adv. Intell. Mechatronics 392\u2013397 (1999).","DOI":"10.1109\/AIM.1999.803199"},{"key":"S0263574708004487_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.606724"},{"key":"S0263574708004487_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/70.238287"},{"key":"S0263574708004487_ref2","doi-asserted-by":"crossref","first-page":"101","DOI":"10.1109\/ROBOT.1998.676324","article-title":"The structure of time-optimal controls for kinematically redundant manipulators with end-effector path constraints","volume":"1","author":"Galicki","year":"1998","journal-title":"Int. Conf. Robot. Autom."},{"key":"S0263574708004487_ref10","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700707"},{"key":"S0263574708004487_ref20","doi-asserted-by":"crossref","first-page":"2507","DOI":"10.1109\/ROBOT.1999.773974","article-title":"A robust control scheme for dual-arm redundant manipulators: experimental results","volume":"4","author":"Xie","year":"1999","journal-title":"Int. Conf. Robot. Autom."},{"key":"S0263574708004487_ref22","volume-title":"Robot Dynamics and Control","author":"Spong","year":"1989"},{"key":"S0263574708004487_ref13","first-page":"207","article-title":"Adaptive learning control of robot manipulators in task space","volume":"1","author":"Jiang","year":"1994","journal-title":"Proc. Am. Control Conf."},{"key":"S0263574708004487_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/70.681254"},{"key":"S0263574708004487_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2002.1184685"},{"key":"S0263574708004487_ref11","unstructured":"11. Kececi E. F. and Tao G. , \u201cAdaptive Actuator Failure Compensation for a Platform Manipulator,\u201d Proceedings of the 6th Biennial Conference on Engineering Systems Design and Analysis ESDA2002, Istanbul, Turkey (July 8\u201311, 2002)."},{"key":"S0263574708004487_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1999.770025"},{"key":"S0263574708004487_ref15","doi-asserted-by":"publisher","DOI":"10.1049\/ip-epa:19960796"},{"key":"S0263574708004487_ref16","first-page":"542","article-title":"Investigation of a fault tolerant and high performance motor drive for critical applications","volume":"2","author":"Ertugrul","year":"2001","journal-title":"Int. Conf. Electr. Technol."},{"key":"S0263574708004487_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.606727"},{"key":"S0263574708004487_ref8","first-page":"910","article-title":"Control algorithms for fault-tolerant robots","volume":"2","author":"Ting","year":"1994","journal-title":"Int. Conf. Robot. Autom."},{"key":"S0263574708004487_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1999.772398"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574708004487","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,29]],"date-time":"2025-01-29T11:54:30Z","timestamp":1738151670000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574708004487\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,1]]},"references-count":22,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2009,1]]}},"alternative-id":["S0263574708004487"],"URL":"https:\/\/doi.org\/10.1017\/s0263574708004487","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,1]]}}}