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    Failure detection and isolation in robotic manipulators using joint torque sensors

    , Article Robotica ; Volume 28, Issue 4 , 2010 , Pages 549-561 ; 02635747 (ISSN) Namvar, M ; Aghili, F ; Sharif University of Technology
    2010
    Abstract
    Reliability of any model-based failure detection and isolation (FDI) method depends on the amount of uncertainty in a system model. Recently, it has been shown that the use of joint torque sensing results in a simplified manipulator model that excludes hardly identifiable link dynamics and other nonlinearities such as friction, backlash, and flexibilities. In this paper, we show that the application of the simplified model in a fault detection algorithm increases reliability of fault monitoring system against modeling uncertainty. The proposed FDI filter is based on a smooth velocity observer of degree 2n where n stands for the number of manipulator joints. No velocity measurement and... 

    Smooth residual generation for robust isolation of faults in manipulators using joint torque sensors

    , Article 58th IEEE Conference on Decision and Control, CDC 2019, 11 December 2019 through 13 December 2019 ; Volume 2019-December , 2019 , Pages 2922-2927 ; 07431546 (ISSN); 9781728113982 (ISBN) Karami, S ; Namvar, M ; Sharif University of Technology
    Institute of Electrical and Electronics Engineers Inc  2019
    Abstract
    Reliability of model-based failure detection and isolation (FDI) methods depends on the amount of uncertainty in a system model. Recently, it has been shown that the use of joint torque sensing results in a simplified manipulator model that excludes hardly identifiable link dynamics and other nonlinearities. We present a geometric approach to fault detection and isolation (FDI) for robotic manipulators using joint torque sensor in presence of model uncertainty. A systematic procedure is introduced for representing a robotic system model using joint torque sensor being affine with respect to faults and disturbances. The proposed FDI filter has smooth dynamics with freely selectable functions... 

    Decentralized control of reconfigurable robots using joint-torque sensing

    , Article International Conference on Robotics and Mechatronics, ICROM 2015, 7 October 2015 through 9 October 2015 ; 2015 , Pages 581-585 ; 9781467372343 (ISBN) Yazdi Almodaresi, S. M ; Sharif University of Technology
    Abstract
    In this paper, a decentralized controller for trajectory tracking of modular and reconfigurable robot manipulators is developed. The proposed control scheme uses joint-torque sensory feedback; also sliding mode control is employed to make both position and velocity tracking errors of robot manipulators globally converging to zero. Proposed scheme also guarantees that all signals in closed-loop systems will be bounded. In contrast to some of prior works in this scheme, each controller uses a smooth law to achieve its purposes. In this method, each controller uses only local information for producing control law hence separated controller can be used to control each module of manipulator and...