Fault identification for robot manipulators

IEEE Transactions on Robotics

Volumn 21, Issue 5, 2005, Pages 1028-1034

  McIntyre, M L ^a   Dixon, W E ^b   Dawson, Darren M ^a   Walker, Ian D ^a  

^a AMRL   (United States)

^b University of Florida   (United States)

Author keywords

Fault identification; Nonlinear dynamics; Robot manipulator

Indexed keywords

ACTUATORS; DYNAMICS; FAILURE ANALYSIS; LYAPUNOV METHODS; MANIPULATORS; MATHEMATICAL MODELS;

FAULT IDENTIFICATION; LYAPUNOV BASED ANALYSIS; NONLINEAR DYNAMIC MODEL;

ROBOTICS;

EID: 27144485807     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2005.851356     Document Type: Article

References (32)

1. A. De Luca and R. Mattone, "Actuator failure detection and isolation using generalized momenta," in Proc. IEEE Int. Conf. Robot. Autom., Taipei, Taiwan, 2003, pp. 634-639.
2. A. De Luca and R. Mattone, "An adapt-and-detect actuator FDI scheme for robot manipulators," in Proc. IEEE Int. Conf. Robot. Autom., New Orleans, LA, 2004, pp. 4975-4980.
3. W. E. Dixon, I. D. Walker, D. M. Dawson, and J. P. Hartranft, "Fault detection for robot manipulators with parametric uncertainty: A prediction-error-based approach," IEEE Trans. Robot. Autom., vol. 16, no. 6, pp. 689-699, Dec. 2000.
4. J. D. English and A. A. Maciejewski, "Fault tolerance for kinematically redundant manipulators: Anticipating free-swinging joint failures," in Proc. IEEE Int. Conf. Robot. Autom., Minneapolis, MN, 1996, pp. 460-467.
5. J. A. Farrell, T. Berger, and B. D. Appleby, "Using learning techniques to accommodate unanticipated faults," IEEE Control Syst. Mag., vol. 13, pp. 40-49, 1993.
6. P. M. Frank, "Fault diagnosis in dynamic systems using analytical and knowledge-based redundancy, a survey and some new results," Automatica, vol. 26, pp. 459-474, 1990.
7. P. M. Frank and R. Seliger, "Fault detection and isolation in automatic processes," in Control Dynamic Systems, C. Leondes, Ed. New York: Academic, 1991, pp. 241-287.
8. J. J. Gertler and M. M. Kunwer, "Optimal residual decoupling for robust fault diagnosis" Int. J. Control, vol. 61, no. 2, pp. 395-421, 1995.
9. J. J. Gertler, Fault Detection and Diagnosis in Engineering Systems. New York: Marcel Dekker, 1998.
10. J. J. Gertler, "Analytical redundancy methods in fault detection and isolation," in Proc. IFAC Symp. Fault Detection, Supervision Safety Tech. Process., Baden, Germany, 1991, p. 921.
11. V. Krishnaswami and G. Rizzoni, "Nonlinear parity equation residual generation for fault detection and isolation," in Proc. IFAC Symp. Fault Detection, Supervision Safety Tech. Process., Copenhagen, Denmark, 1994, pp. 317-322.
12. V. Krishnaswami and G. Rizzoni, "Robust residual generation for nonlinear system fault detection and isolation," in Proc. IFAC Symp. Fault Detection, Supervision Safety Tech. Process., Copenhagen, Denmark, 1994, pp. 163-168.
13. C. L. Lewis and A. A. Maciejewski, "Dexterity optimization of kinematically redundant manipulators in the presence of joint failures," Comput. Elect. Eng., vol. 20, no. 3, pp. 273-288, 1994.
14. M. Loffler, N. Costescu, and D. Dawson, "Qmotor 3.0 and the Qmotor robotic toolkit - An advanced PC-based real-time control platform," IEEE Control Syst. Mag., vol. 22, no. 3, pp. 12-26, Jun. 2002.
15. R. Mattone and A. De Luca, "Fault detection and isolation in robot manipulators," IFATIS, IRAR002R01, 2003.
16. C. J. Paredis, W. K. F. Au, and P. K. Khosla, "Kinematic design of fault tolerant manipulators," Comput. Elect. Eng., vol. 20, no. 3, pp. 211-220, 1994.
17. R. J. Patton, "Robust fault detection using eigenstructure assignment," in Proc. 12th IMACS World Congr. Math. Modeling Sci. Computat., Paris, France, 1988, pp. 431-433.
18. M. M. Polycarpou and A. J. Helmicki, "Automated fault detection and accommodation: A learning systems approach," IEEE Trans. Syst., Man, Cybern., vol. 25, no. 11, pp. 1447-1458, Nov. 1995.
19. J-H. Shin and J-J. Lee, "Fault detection and robust fault recovery control for robot manipulators with actuator failures," in Proc. IEEE Int. Conf. Robot. Autom., Detroit, MI, 1999, pp. 861-866.
20. M. W. Spong and M. Vidyasagar, Robot Dynamics and Control. New York: Wiley, 1989.
21. D. Sreevijayan, S. Tosunoglu, and D. Tesar, "Architectures for fault tolerant mechanical systems," in Proc. IEEE Mediterranean Electrotech. Conf., Antalya, Turkey, 1994, pp. 1029-1033.
22. M. H. Terra and R. Tinos, "Fault detection and isolation in robotic systems via artificial neural networks," in Proc. 37th IEEE Conf. Decision Control, vol. 2, Tampa, FL, 1998, pp. 1605-1610.
23. Y. Ting, S. Tosunoglu, and D. Tesar, "A control structure for fault tolerant operation of robotic manipulators," in Proc. IEEE Int. Conf. Robot. Autom., Atlanta, GA, 1993, pp. 684-690.
24. A. B. Trunov and M. M. Polycarpou, "Automated fault diagnosis in nonlinear multivariable systems using a learning methodology," IEEE Trans. Neural Netw., vol. 11, no. 1e, pp. 91-101, Jan. 2000.
25. M. L. Visinsky, J. R. Cavallaro, and I. D. Walker, "A dynamic fault tolerance framework for remote robots," IEEE Trans. Robot. Autom., vol. 11, no. 4, pp. 477-490, Aug. 1995.
26. H. Wang, Z. J. Huang, and S. Daley, "On the use of adaptive updating rules for actuator and sensor fault diagnosis," Automatica, vol. 33, pp. 217-225, 1997.
27. T. S. Wikman, M. S. Branicky, and W. S. Newman, "Reflex control for robot system preservation, reliability, and autonomy," Comput. Elect. Eng., vol. 20, no. 5, pp. 391-407, 1994.
28. E. C. Wu, J. C. Hwang, and J. T. Chladek, "Fault tolerant joint development for the space shuttle remote manipulator system: Analysis and development," IEEE Trans. Robot. Autom., vol. 9, no. 5, pp. 675-684, Oct. 1993.
29. B. Xian, M. S. de Queiroz, and D. Dawson, "A continuous control mechanism for uncertain nonlinear systems," in Optimal Control, Stabilization, and Nonsmooth Analysis. Heidelberg, Germany: Springer-Verlag, 2004, Lecture Notes in Control and Information Sciences.
30. G. Yen and L. Ho, "Fault tolerant control: An intelligent sliding model control strategy," in Proc. Amer. Control Conf., Chicago, IL, 2000, pp. 4204-4208.
31. F. Zanaty, "Consistency checking techniques for the space shuttle remote manipulator system," SPAR J. Eng. Technol., vol. 2, no. 1, pp. 40-49, 1993.
32. X. Zhang, M. Polycarpou, and T. Parisini, "A robust detection and isolation scheme for abrupt and incipient faults in nonlinear systems," IEEE Trans. Autom. Control, vol. 47, no. 4, pp. 576-593, Apr. 2002.