Title :
Fault Detection for Robot Manipulators via Second-Order Sliding Modes
Author :
Brambilla, Daniele ; Capisani, Luca Massimiliano ; Ferrara, Antonella ; Pisu, Pierluigi
Author_Institution :
Ente Naz. Idrocarburi (ENI) Res. Inst., Milan
Abstract :
This paper presents a model-based fault detection (FD) and isolation scheme for rigid manipulators. A single fault acting on a specific actuator or on a specific sensor of the manipulator is detected (and, if possible, the exact location of the fault), and an estimation of the fault signal is performed. Input-signal estimator and output observers are considered in order to make the FD procedure possible. By using the suboptimal second-order sliding-mode (SOSM) algorithm to design the input laws of the observers, satisfactory stability properties of the observation error are established. The proposed algorithm is verified in simulation and experimentally on a COMAU SMART3-S2 robot manipulator.
Keywords :
control system synthesis; fault diagnosis; manipulators; observers; stability; variable structure systems; COMAU SMART3-S2 robot manipulator; SOSM; input-signal estimator; isolation scheme; model-based fault detection scheme; output observers; rigid manipulators; satisfactory stability; suboptimal second-order sliding-mode algorithm; Actuators; Automatic control; Control systems; Electrical fault detection; Electromechanical sensors; Fault detection; Fault diagnosis; Manipulators; Robot sensing systems; Robustness; Fault diagnosis; fault location; manipulators; robustness; variable structure systems;
Journal_Title :
Industrial Electronics, IEEE Transactions on
DOI :
10.1109/TIE.2008.2005932
