Title :
Fault detection and isolation on flexible-joint manipulators
Author :
Vasegh, N. ; Yazdanpanah, M.J.
Author_Institution :
Dept. of Electrical Engineering, K. N. Tossi University of Technology, University of Tehran, P.O. Box 14395/515, Tehran, Iran
Abstract :
In this paper, first we survey Fault Detection and Isolation (FDI) for nonlinear systems. A necessary condition for the problem to be solvable is derived in terms of an unobservability distribution, which is computable by means of suitable algorithms. Then we apply this method on m-link manipulators with flexible joints in order to detect actuator faults. The simulation result for the case of a single-link flexible joint manipulator reveals the effectiveness of approach.
Keywords :
Actuators; Generators; Manipulators; Mathematical model; Robot kinematics; Service robots; disturbance; fault detection and isolation; flexible-joint; manipulator;
Conference_Titel :
European Control Conference (ECC), 2003
Conference_Location :
Cambridge, UK
Print_ISBN :
978-3-9524173-7-9
