Robust Fault Detection Of A Robotic Manipulator  

Oleh:

[s.n]

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 26 no. 3 (Mar. 2007), page 273-286.
Topik: fault detection; analytical redundancy; robustness; nonlinear system
Fulltext: 273.pdf (2.55MB)

Isi artikel

In this paper, a new robustfault detection techniquefor robotic manipulators is developed. The new approach, called robust nonlinear analytic redundancy (RIVLAR) technique, detects both sensor and actuatorfaults in a robotic manipulator The proposed RNLAR technique can compensate for the effects ofmodel-plan -mismatch (MPM) and process disturbance. A nonlinear primary residual vectors (PRV) design method to detect faults is proposed where the PRVs are highly sensitive tofaults and less sensitive to MPMandprocess disturbance. Experimental results on a PUMA 560 are presented to justify the effectiveness ofthe RNL4R scheme.

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