Fig 1.
FTC architecture.
Fig 2.
FTC classification.
Fig 3.
Passive FTC system.
Fig 4.
Active FTC system.
Fig 5.
Types of fault.
Fig 6.
AUTAREP manipulator ED-7220C showing various joints with their Range Of Motion(ROM).
Fig 7.
Actuator FTC design technique.
Fig 8.
Sensor FTC.
Fig 9.
GUI of FTC.
Fig 10.
Position tracking of elbow joint of a robot manipulator with abrupt fault profile.
Fig 11.
Position tracking of shoulder joint of a robot manipulator with intermittent fault profile.
Fig 12.
Sinusoidal response of elbow joint of a robot manipulator with intermittent fault profile.
Fig 13.
Sinusoidal response of shoulder joint of a robot manipulator with abrupt fault profile.
Fig 14.
Control effort of waist joint of a robot manipulator.
Fig 15.
Residuals for fault profile in robot manipulator joint.
Fig 16.
Position tracking of waist joint of a robot manipulator with abrupt fault profile.
Fig 17.
Position tracking of elbow joint of a robot manipulator with incipient fault profile.
Fig 18.
Position tracking of shoulder joint of a robot manipulator with intermittent fault profile.