In this paper a fault diagnosis approach for robotic manipulators, subject to faults of the joints driving systems, is developed. A model-based diagnostic observer is adopted to detect, isolate and identify failures. Compensation of unknown dynamics, uncertainties and disturbances is achieved through the adoption of a class of neural interpolators, the support vector machines and trained off-line. Interpolation of unknown faults is performed by adopting an on-line neural interpolator based on radial basis functions, whose weights are adaptively tuned on-line. The effectiveness of the approach is experimentally tested on an industrial robot manipulator.
Actuators fault diagnosis for robot manipulators with uncertain model / F., Caccavale; P., Cilibrizzi; F., Pierri; Villani, Luigi. - In: CONTROL ENGINEERING PRACTICE. - ISSN 0967-0661. - STAMPA. - 17:1(2009), pp. 146-157. [10.1016/j.conengprac.2008.05.012]
Actuators fault diagnosis for robot manipulators with uncertain model
VILLANI, LUIGI
2009
Abstract
In this paper a fault diagnosis approach for robotic manipulators, subject to faults of the joints driving systems, is developed. A model-based diagnostic observer is adopted to detect, isolate and identify failures. Compensation of unknown dynamics, uncertainties and disturbances is achieved through the adoption of a class of neural interpolators, the support vector machines and trained off-line. Interpolation of unknown faults is performed by adopting an on-line neural interpolator based on radial basis functions, whose weights are adaptively tuned on-line. The effectiveness of the approach is experimentally tested on an industrial robot manipulator.File | Dimensione | Formato | |
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