Title :
Operation status identification of industrial robots
Author_Institution :
Coll. of Eng., Southern Illinois Univ., Carbondale, IL
Abstract :
The author describes a vibration-analysis based diagnostic monitoring system for robot operations. The robot vibration is represented by a stochastic model. The change in robot operation speed is monitored for preventive maintenance. Robot operation state is recognized through cluster analysis. A fuzzy-logic based comprehensive-assessment is applied to improve the reliability of diagnostic decisions. A real-time algorithm is developed for online diagnostic monitoring. Experimental results show the applicability of the technique
Keywords :
industrial robots; cluster analysis; fuzzy-logic based comprehensive-assessment; industrial robots; operation status identification; preventive maintenance; real-time; reliability; stochastic model; vibration-analysis based diagnostic monitoring system; Clustering algorithms; Fault detection; Fuzzy systems; Manufacturing systems; Monitoring; Production systems; Robot sensing systems; Robotics and automation; Service robots; Vibration measurement;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583147
