Failure of any robotic system component during operation is a matter of concern. Internal shock phenomena due to the failure of joint actuation, and a recovery algorithm for both serial and parallel mechanisms under such circumstances are investigated. A control algorithm is studied that consists of a model reference algorithm and a simple proportional integral derivative (PID) controller in the feedback process. Simulation results illustrate the effectiveness of this recovery algorithm which attempts to reduce the internal shock when failure occurs, and accomplish the continued tracking of the given end-effector trajectory.
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