A time-delayed observer for fault detection and isolation in industrial robots

Authors:
F. Caccavale;P. Chiacchio;I. D. Walker
Affiliations:
(Corresponding author) Dipartimento di Ingegneria e Fisica dell'Ambiente, Università degli Studi della Basilicata Via dell'Ateneo Lucano 10, 85100 Potenza (Italy) E-mail: caccavale@unibas.it;Dipartimento di Ingegneria dell'Informazione ed Ingegneria Elettrica, Università degli Studi di Salerno Via Ponte Don Melillo, 84084 Fisciano, Salerno (Italy).;Department of Electrical and Computer Engineering Clemson, University Fluor Daniel Engineering Innovation Building Clemson, SC 29634 (USA).
Venue:
Robotica
Year:
2006

Citing 2
Cited 0

Robust model-based fault diagnosis for dynamic systems

Robust model-based fault diagnosis for dynamic systems
A systematic procedure for the identification of dynamic parameters of robot manipulators

Robotica

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Abstract

In this paper a discrete-time observer-based approach to Fault Detection and Isolation (FDI) for industrial robotic manipulators is presented and experimentally tested. In order to counteract the effects of unmodeled dynamics and disturbances, a time-delayed estimate of such effects is adopted. Remarkably, the observer is designed directly in the discrete-time domain. The performance of the proposed approach are experimentally verified on a six-degrees-of-freedom industrial robot.