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failure-detection-and-isolations
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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) ; 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...