A model-based fault function approximation scheme for robot manipulators using M-ANFIS

Author

Yuksel, Tolga ; Sezgin, Abdullah

Author_Institution

Dept. of Electr. & Electron. Eng., Ondokuz Mayis Univ., Kurupelit-Samsun, Turkey

fYear

2010

fDate

26-28 April 2010

Firstpage

47

Lastpage

51

Abstract

Robots, as complex systems, must detect and isolate faults with high probabilities while doing their tasks with humans or other robots with high precision and they should tolerate the fault with the controller. This necessity forced researchers to design various fault detection and isolation (FDI) for robot manipulators, mobile robots and mobile manipulators. In addition to FDI, a scheme should approximate fault function to give exact information about the fault. In this study, a model-based fault function approximation scheme for robot manipulators using M-ANFIS is proposed.

Keywords

fault diagnosis; function approximation; large-scale systems; manipulators; position control; FDI; M-ANFIS; complex systems; fault detection and isolation; fault function approximation; mobile manipulators; mobile robots; model based fault function approximation scheme; robot manipulators; Analytical models; Fault detection; Function approximation; Humans; Manipulators; Neural networks; Nonlinear systems; Orbital robotics; Robotics and automation; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

MELECON 2010 - 2010 15th IEEE Mediterranean Electrotechnical Conference

Conference_Location

Valletta

Print_ISBN

978-1-4244-5793-9

Type

conf

DOI

10.1109/MELCON.2010.5476342

Filename

5476342