Adaptive fault detection and isolation for a class of robot manipulators with time-varying perturbation

This paper presents an adaptive-based fault detection and isolation scheme for a general class of robot manipulators, with characterizing the isolability conditions. The proposed algorithm consists of a nonlinear adaptive fault detection estimator and a bank of fault isolation estimators to determin...

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Bibliographic Details
Published in:Journal of mechanical science and technology 2015, 29(11), , pp.4901-4911
Main Authors: Rezazadeh, Amaneh Salmani, Koofigar, Hamid Reza, Hosseinnia, Saeed
Format: Article
Language:English
Subjects:
Adaptive algorithms
Computer simulation
Control
Dynamical Systems
Engineering
Estimators
Fault detection
Faults
Industrial and Production Engineering
Manipulators
Mechanical Engineering
Perturbation methods
Robot arms
Robots
Vibration
기계공학
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Summary:This paper presents an adaptive-based fault detection and isolation scheme for a general class of robot manipulators, with characterizing the isolability conditions. The proposed algorithm consists of a nonlinear adaptive fault detection estimator and a bank of fault isolation estimators to determine the types of faults, which may be incipient or abrupt, while the fault parameter function may be time-varying. To demonstrate its effectiveness, the method is applied to a two-link robot manipulator and the simulation results are presented and discussed.
ISSN:1738-494X
1976-3824
DOI:10.1007/s12206-015-1038-5