Hostname: page-component-cd9895bd7-q99xh Total loading time: 0 Render date: 2024-12-25T07:35:33.795Z Has data issue: false hasContentIssue false
  • English
  • Français

A time-delayed observer for fault detection and isolation in industrial robots

Published online by Cambridge University Press:  14 February 2006

F. Caccavale ,
P. Chiacchio  and
I. D. Walker
P. Chiacchio
Affiliation:
Dipartimento di Ingegneria dell'Informazione ed Ingegneria Elettrica, Università degli Studi di Salerno Via Ponte Don Melillo, 84084 Fisciano, Salerno (Italy).
I. D. Walker
Affiliation:
Department of Electrical and Computer Engineering Clemson, University Fluor Daniel Engineering Innovation Building Clemson, SC 29634 (USA).
Get access Rights & Permissions [Opens in a new window]

Abstract

In this paper a discrete-time observer-based approach to Fault Detection and Isolation (FDI) for industrial robotic manipulators is presented and experimentally tested. In order to counteract the effects of unmodeled dynamics and disturbances, a time-delayed estimate of such effects is adopted. Remarkably, the observer is designed directly in the discrete-time domain. The performance of the proposed approach are experimentally verified on a six-degrees-of-freedom industrial robot.

Keywords

RobotsObserversFault detectionFault isolation
Type
Article
Information
Robotica , Volume 24 , Issue 5 , September 2006 , pp. 557 - 565
Copyright
2006 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)