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
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;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241665
