Fault detection for robot manipulators with parametric uncertainty: a prediction-error-based approach

Author

Dixon, Warren E. ; Walker, Lan D. ; Dawson, Darren M. ; Hartranft, John P.

Author_Institution

Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA

Volume

16

Issue

6

fYear

2000

fDate

12/1/2000 12:00:00 AM

Firstpage

689

Lastpage

699

Abstract

In this paper, we introduce a new approach to fault detection for robot manipulators. The technique, which is based on the isolation of fault signatures via filtered torque prediction error estimates, does not require measurements or estimates of manipulator acceleration as is the case with some previously suggested methods. The method is formally demonstrated to be robust under uncertainty in the robot parameters. Furthermore, an adaptive version of the algorithm is introduced, and shown to both improve coverage and significantly reduce detection times. The effectiveness of the approach is demonstrated by experiments with a two-joint manipulator system

Keywords

adaptive filters; fault location; filtering theory; manipulators; prediction theory; signal processing; stability; uncertain systems; adaptive version; detection time reduction; fault detection; fault signature isolation; filtered torque prediction error estimates; parametric uncertainty; prediction-error-based approach; robot manipulators; two-joint manipulator system; Fault detection; Fault tolerance; Manipulator dynamics; Orbital robotics; Redundancy; Robot sensing systems; Robotics and automation; Sensor systems; Switches; Uncertainty;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.897780

Filename

897780