DocumentCode
2511320
Title
Fuzzy logic based threshold adaption for fault detection in robots
Author
Schneider, H. ; Frank, P.M.
Author_Institution
Dept. of Electr. Eng., Duisburg Univ., Germany
fYear
1994
fDate
24-26 Aug 1994
Firstpage
1127
Abstract
The residual evaluation of model-based fault detection methods is investigated for processes which exhibit unstructured disturbances, e.g. due to model simplifications. Since analytical methods can only be used for structured disturbances the use of heuristic knowledge for residual evaluation is appropriate. A fuzzy logic based threshold for residual evaluation is suggested. The benefit of this approach is demonstrated for an observer-based fault detection method of robots
Keywords
failure analysis; fault location; fuzzy logic; heuristic programming; robots; fuzzy-logic-based threshold adaptation; heuristic knowledge; observer-based fault detection; residual evaluation; robots; unstructured disturbances; Failure analysis; Fuzzy logic; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1994., Proceedings of the Third IEEE Conference on
Conference_Location
Glasgow
Print_ISBN
0-7803-1872-2
Type
conf
DOI
10.1109/CCA.1994.381357
Filename
381357
Link To Document