Fault detection based on orthotopic set membership identification for robot manipulators

Vasso Reppa, Antonios Tzes

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    In this article a fault detection algorithm for capturing structural and/or sensor failures in robot manipulators is presented. The robot dynamics is linearizable with respect to a certain parameter. Using this linearizable representation, common faults in robot arms, such as failures of actuators or faulty sensor measurements, can be identified as variations encountered in the parameter vector. The proposed algorithm uses an Orthotopic Set Membership Identifier that defines the feasible parameter set and the parameters bounds, within which the Weighted Recursive Least Square parameter estimate resides. An Output Uncertainty Predictor that generates the future region of faultless system operation. A fault is detected, when one of the following criteria below is validated: a) the WRLS parameter estimate resides out of the parameters s bounds, b) there is a sudden increase in the volume of the feasible set and c) the system s output is not within the predicted interval. Simulation studies are offered to test this fault detection methodology, customized to a two-link robot arm.

    Original languageEnglish (US)
    Title of host publicationProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
    Volume17
    Edition1 PART 1
    DOIs
    StatePublished - Dec 1 2008
    Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
    Duration: Jul 6 2008Jul 11 2008

    Other

    Other17th World Congress, International Federation of Automatic Control, IFAC
    CountryKorea, Republic of
    CitySeoul
    Period7/6/087/11/08

    Fingerprint

    Fault detection
    Manipulators
    Robots
    Sensors
    Actuators

    Keywords

    • Bounded error identification
    • Fault detection and diagnosis

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Reppa, V., & Tzes, A. (2008). Fault detection based on orthotopic set membership identification for robot manipulators. In Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC (1 PART 1 ed., Vol. 17) https://doi.org/10.3182/20080706-5-KR-1001.1510

    Fault detection based on orthotopic set membership identification for robot manipulators. / Reppa, Vasso; Tzes, Antonios.

    Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. Vol. 17 1 PART 1. ed. 2008.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Reppa, V & Tzes, A 2008, Fault detection based on orthotopic set membership identification for robot manipulators. in Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. 1 PART 1 edn, vol. 17, 17th World Congress, International Federation of Automatic Control, IFAC, Seoul, Korea, Republic of, 7/6/08. https://doi.org/10.3182/20080706-5-KR-1001.1510
    Reppa V, Tzes A. Fault detection based on orthotopic set membership identification for robot manipulators. In Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. 1 PART 1 ed. Vol. 17. 2008 https://doi.org/10.3182/20080706-5-KR-1001.1510
    Reppa, Vasso ; Tzes, Antonios. / Fault detection based on orthotopic set membership identification for robot manipulators. Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. Vol. 17 1 PART 1. ed. 2008.
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