Robust Fault Detection of a Robotic Manipulator
International Journal of Robotics Research
IEEE Transactions on Neural Networks
Reliability analysis of complex multi-robotic system using GA and fuzzy methodology
Applied Soft Computing
A hierarchical multiple-model approach for detection and isolation of robotic actuator faults
Robotics and Autonomous Systems
Well-conditioned configurations of fault-tolerant manipulators
Robotics and Autonomous Systems
A robust fault detection and isolation scheme for robot manipulators based on neural networks
ICIC'11 Proceedings of the 7th international conference on Advanced Intelligent Computing
IMS 10-Validation of a co-evolving diagnostic algorithm for evolvable production systems
Engineering Applications of Artificial Intelligence
Hi-index | 0.00 |
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 nonlinear observer is used to identify a class of actuator faults once the fault has been detected by some other method. Advantages of the proposed fault-identification method are that it is based on the nonlinear dynamic model of a robot manipulator (and hence, can be extended to a number of general Euler Lagrange systems), it does not require acceleration measurements, and it is independent from the controller. A Lyapunov-based analysis is provided to prove that the developed fault observer converges to the actual fault. Experimental results are provided to illustrate the performance of the identification method.