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

Volume

55

Issue

11

fYear

2008

Firstpage

3954

Lastpage

3963

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;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/TIE.2008.2005932

Filename

4663181