DETECTION OF OVERLOAD GENERATED FAULTS IN ROBOT MANIPULATORS WITH FRICTION

Lőrinc Márton

Abstract

This work proposes a detection method for faults that can appear in the actuators or gear transmissions of robot manipulators due to increased resistance in joint movement or mechanical jamming. It is assumed that the robot system is controlled using a computed torque-like algorithm. The fault detector is formulated as a disturbance observer and it can also isolate the location of the fault, namely in which joint of the robot the fault appears. The detector is based on a disturbance observer which is designed such that it is insensible to high frequency additive disturbances and model uncertainties. Simulation results are presented to show the applicability of the proposed fault detection method.

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Paper Citation


in Harvard Style

Márton L. (2011). DETECTION OF OVERLOAD GENERATED FAULTS IN ROBOT MANIPULATORS WITH FRICTION . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 106-111. DOI: 10.5220/0003405901060111


in Bibtex Style

@conference{icinco11,
author={Lőrinc Márton},
title={DETECTION OF OVERLOAD GENERATED FAULTS IN ROBOT MANIPULATORS WITH FRICTION},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={106-111},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003405901060111},
isbn={978-989-8425-75-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - DETECTION OF OVERLOAD GENERATED FAULTS IN ROBOT MANIPULATORS WITH FRICTION
SN - 978-989-8425-75-1
AU - Márton L.
PY - 2011
SP - 106
EP - 111
DO - 10.5220/0003405901060111