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Fault diagnosis in robot manipulators in presence of modeling uncertainty and sensor noise
422 viewed

Fault diagnosis in robot manipulators in presence of modeling uncertainty and sensor noise

Mohseni, S

Fault diagnosis in robot manipulators in presence of modeling uncertainty and sensor noise

Mohseni, S ; Sharif University of Technology

422 Viewed
  1. Type of Document: Article
  2. DOI: 10.1109/CCA.2009.5280696
  3. Abstract:
  4. 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
  5. Keywords:
  6. Detection process ; Euler-Lagrange equations ; Fault detection and isolation ; Gravity vectors ; Modeling uncertainties ; New approaches ; Robot manipulator ; Sensor noise ; Simulation example ; Torque sensors ; Failure analysis ; Flexible manipulators ; Industrial robots ; Modular robots ; Robot applications ; Sensors ; Fault detection
  7. Source: Proceedings of the IEEE International Conference on Control Applications, 8 July 2009 through 10 July 2009, Saint Petersburg ; 2009 , Pages 1750-1755 ; 9781424446025 (ISBN)
  8. URL: http://ieeexplore.ieee.org/document/5280696