Neural-Network-Based Robust Fault Diagnosis in Robotic Systems  

Oleh:

Vemuri, A. T. ; Polycarpou, M. M.

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: IEEE Transactions on Neural Networks vol. 8 no. 6 (1997), page 1410-1420.
Topik: robotic control system; neural - network - based; robust fault; diagnosis; robotic systems

Ketersediaan

Perpustakaan Pusat (Semanggi) Nomor Panggil: II36.2 Non-tandon: 1 (dapat dipinjam: 0) Tandon: tidak ada

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Isi artikel

Fault diagnosis plays an important role in the operation of modern robotic systems. A number of researchers have proposed fault diagnosis architectures for robotic manipulators using the model - based analytical redundancy approach. One of the key issues in the design of such fault diagnosis schemes is the effect of modeling uncertainties on their performance. This paper investigates the problem of fault diagnosis in rigid - link robotic manipulators with modeling uncertainties. A learning architecture with sigmoidal neural networks is used to monitor the robotic system for any off - nominal behaviour due to faults. The robustness and stability properties of the fault diagnosis scheme are rigorously established. Simulation examples are presented to illustrate the ability of the neural - network - based robust fault diagnosis scheme to detect and accommodate faults in a two - link robotic manipulator.

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