DETECTION OF OVERLOAD GENERATED FAULTS IN ROBOT MANIPULATORS WITH FRICTION

Lőrinc Márton

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Paper

DETECTION OF OVERLOAD GENERATED FAULTS IN ROBOT MANIPULATORS WITH FRICTION

Topics: Control and Supervision Systems; Intelligent Fault Detection and Identification; Robot Design, Development and Control

In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 106-111, 2011 , Noordwijkerhout, Netherlands

Author: Lőrinc Márton

Affiliation: DLR - German Aerospace Center, Germany

Keyword(s): Actuator Fault Detection, Robot Manipulator, Disturbance Estimation, Friction.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Intelligent Fault Detection and Identification ; Robot Design, Development and Control ; Robotics and Automation

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 several formats:

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 1: ICINCO; ISBN 978-989-8425-75-1; ISSN 2184-2809, SciTePress, pages 106-111. DOI: 10.5220/0003405901060111

@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 1: ICINCO},
year={2011},
pages={106-111},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003405901060111},
isbn={978-989-8425-75-1},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - DETECTION OF OVERLOAD GENERATED FAULTS IN ROBOT MANIPULATORS WITH FRICTION
SN - 978-989-8425-75-1
IS - 2184-2809
AU - Márton, L.
PY - 2011
SP - 106
EP - 111
DO - 10.5220/0003405901060111
PB - SciTePress