Fault detection based on orthotopic set membership identification for robot manipulators

Vasso Reppa, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this article a fault detection algorithm for capturing structural and/or sensor failures in robot manipulators is presented. The robot dynamics is linearizable with respect to a certain parameter. Using this linearizable representation, common faults in robot arms, such as failures of actuators or faulty sensor measurements, can be identified as variations encountered in the parameter vector. The proposed algorithm uses an Orthotopic Set Membership Identifier that defines the feasible parameter set and the parameters bounds, within which the Weighted Recursive Least Square parameter estimate resides. An Output Uncertainty Predictor that generates the future region of faultless system operation. A fault is detected, when one of the following criteria below is validated: a) the WRLS parameter estimate resides out of the parameters s bounds, b) there is a sudden increase in the volume of the feasible set and c) the system s output is not within the predicted interval. Simulation studies are offered to test this fault detection methodology, customized to a two-link robot arm.

Original languageEnglish (US)
Title of host publicationProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Edition1 PART 1
DOIs
StatePublished - 2008
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: Jul 6 2008Jul 11 2008

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume17
ISSN (Print)1474-6670

Other

Other17th World Congress, International Federation of Automatic Control, IFAC
CountryKorea, Republic of
CitySeoul
Period7/6/087/11/08

Keywords

  • Bounded error identification
  • Fault detection and diagnosis

ASJC Scopus subject areas

  • Control and Systems Engineering

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