Title :
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
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;
Conference_Titel :
MELECON 2010 - 2010 15th IEEE Mediterranean Electrotechnical Conference
Conference_Location :
Valletta
Print_ISBN :
978-1-4244-5793-9
DOI :
10.1109/MELCON.2010.5476342
