DocumentCode
2234934
Title
Actuator failure detection and isolation using generalized momenta
Author
De Luca, Alessandro De ; Mattone, Raffaella
Author_Institution
Dipt. di Informatica e Sistemistica, Universita degli Studi di Roma, Rome, Italy
Volume
1
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
634
Abstract
We present a method based on the use of generalized momenta for detecting and isolating actuator faults in robot manipulators. The FDI scheme does not need acceleration estimates or simulation of the nominal robot dynamics and covers a general class of input faults. Numerical results for a 2R robot undergoing also concurrent actuator faults are reported. This method is extended to robots with joint elasticity and to the inclusion of actuator dynamics.
Keywords
failure analysis; fault diagnosis; manipulator dynamics; matrix algebra; observers; 2R robot; actuator dynamics; actuators; failure detection; failure isolation; generalized momenta; robot joint elasticity; robot manipulators; Acceleration; Actuators; Elasticity; Fault detection; Fault tolerance; Manipulator dynamics; Parameter estimation; Robot kinematics; Robot sensing systems; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241665
Filename
1241665
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