DMCA
Fault Detection and Identification for Robot Manipulators ∗
| Citations: | 5 - 1 self |
BibTeX
@MISC{Mcintyre_faultdetection,
author = {M. L. Mcintyre and W. E. Dixon and D. M. Dawson and I. D. Walker},
title = {Fault Detection and Identification for Robot Manipulators ∗},
year = {}
}
Share
 |
 |
 |
 |
||
OpenURL
Abstract
Abstract: Several factors must be considered for robotic task execution in the presence of a fault, including: detection, identification, and accommodation for the fault. In this paper, a prediction error based dead-zone residual function and a nonlinear observer are used to detect and identify a class of actuator faults. Advantages of the proposed fault detection and identification methods are that they are based on the nonlinear dynamic model of a robot manipulator (and hence, can be extended to a number of general Euler Lagrange systems), they do not require acceleration measurements, and they are independent from the controller. A Lyapunov-based analysis is provided to prove that the developed fault observer converges to the actual fault. Simulation results are provided to illustrate the performance of the detection and identification methods. 1
Keyphrases
robot manipulator fault detection identification method acceleration measurement several factor simulation result actual fault developed fault observer robotic task execution dead-zone residual function nonlinear observer prediction error actuator fault nonlinear dynamic model lyapunov-based analysis general euler lagrange system
