Title :
Fault diagnosis in robot manipulators in presence of modeling uncertainty and sensor noise
Author :
Mohseni, Saeed ; Namvar, Mehrzad
Author_Institution :
Dept. of Electr. Eng., Sharif Univ. of Technol., Tehran, Iran
Abstract :
In this paper, we introduce a new approach to fault detection and isolation for robot manipulators. Our technique is based on using a new simplified Euler-Lagrange (EL) equation that reduces complexity of the proposed fault detection method. The proposed approach isolates the faults and is capable of handling the uncertainty in manipulator gravity vector. It is shown that the effect of uncalibrated torque sensor measurement is asymptotically rejected in the detection process. A simulation example is presented to illustrate the results.
Keywords :
fault diagnosis; manipulators; sensors; torque measurement; Euler-Lagrange equation; fault detection; fault diagnosis; fault isolation; manipulator gravity vector; robot manipulators; sensor noise; uncalibrated torque sensor measurement; Equations; Fault detection; Fault diagnosis; Gravity; Linear systems; Manipulators; Medical robotics; Robot sensing systems; Torque measurement; Uncertainty;
Conference_Titel :
Control Applications, (CCA) & Intelligent Control, (ISIC), 2009 IEEE
Conference_Location :
St. Petersburg
Print_ISBN :
978-1-4244-4601-8
Electronic_ISBN :
978-1-4244-4602-5
DOI :
10.1109/CCA.2009.5280696