• DocumentCode
    702188
  • 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
  • fYear
    2003
  • fDate
    1-4 Sept. 2003
  • Firstpage
    2285
  • Lastpage
    2291
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    European Control Conference (ECC), 2003
  • Conference_Location
    Cambridge, UK
  • Print_ISBN
    978-3-9524173-7-9
  • Type

    conf

  • Filename
    7085307
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=702188