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Fault diagnosis in robot manipulators in presence of modeling uncertainty and sensor noise
, Article Proceedings of the IEEE International Conference on Control Applications, 8 July 2009 through 10 July 2009, Saint Petersburg ; 2009 , Pages 1750-1755 ; 9781424446025 (ISBN) ; Namvar, M ; Sharif University of Technology
Abstract
In this paper, we introduce a new approach to fault detection and isolation for robot manipulators. Our technique is based on using a new simplified Euler-Lagrange (EL) equation that reduces complexity of the proposed fault detection method. The proposed approach isolates the faults and is capable of handling the uncertainty in manipulator gravity vector. It is shown that the effect of uncalibrated torque sensor measurement is asymptotically rejected in the detection process. A simulation example is presented to illustrate the results. © 2009 IEEE