Title :
Fuzzy logic based threshold adaption for fault detection in robots
Author :
Schneider, H. ; Frank, P.M.
Author_Institution :
Dept. of Electr. Eng., Duisburg Univ., Germany
Abstract :
The residual evaluation of model-based fault detection methods is investigated for processes which exhibit unstructured disturbances, e.g. due to model simplifications. Since analytical methods can only be used for structured disturbances the use of heuristic knowledge for residual evaluation is appropriate. A fuzzy logic based threshold for residual evaluation is suggested. The benefit of this approach is demonstrated for an observer-based fault detection method of robots
Keywords :
failure analysis; fault location; fuzzy logic; heuristic programming; robots; fuzzy-logic-based threshold adaptation; heuristic knowledge; observer-based fault detection; residual evaluation; robots; unstructured disturbances; Failure analysis; Fuzzy logic; Robots;
Conference_Titel :
Control Applications, 1994., Proceedings of the Third IEEE Conference on
Conference_Location :
Glasgow
Print_ISBN :
0-7803-1872-2
DOI :
10.1109/CCA.1994.381357
