@article{oai:ir.kagoshima-u.ac.jp:00010599,
 author = {HASHIMOTO, Minoru and 橋本, 稔 and PAUL, Richard P.},
 journal = {鹿児島大学工学部研究報告, The research reports of the Faculty of Engineering, Kagoshima University},
 month = {Nov},
 note = {Robot manipulator joints with only a single state sensor (either in position or in velocity) are limited in their ability to determine both state variables (in position and in velocity). Also, if the single sensor fails, the robot becomes uncontrollable. In the present paper, we propose a method which efficiently uses multi-sensor information to obtain a more precise description of joint position and velocity, and such a method allows for a robust control system free from the affects of spurious sensor observation, one which is impervious to single sensor failure. We employ an encoder and a tachometer for each joint as sensors. A technique is described for combining both uncertain sensor observations with an observation model to provide an optimal estimation of both state variables. The estimation method does not result in more than one sample period of delay in time, as the estimator does not use a time series analysis. In order to detect a sensor failure, we use a cross-checking hypothesis test for redundant sensor information. In addition, we can detect a control failure by including the command information of the control in the hypothesis test. The algorithm for implementing the estimation and the hypothesis test is presented. Simulation results demonstrate that the technique works well.},
 pages = {13--27},
 title = {Integration of multi-sensor manipulator actuator information for robust robot control systems},
 volume = {31},
 year = {1989}
}