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

Robotica

Volumn 24, Issue 5, 2006, Pages 557-565

  Caccavale, F ^a   Chiacchio, P ^b   Walker, I D ^c  

^a UNIVERSITY OF BASILICATA   (Italy)

^b UNIVERSITY OF SALERNO   (Italy)

^c CLEMSON UNIVERSITY   (United States)

Author keywords

Fault detection; Fault isolation; Observers; Robots

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); DYNAMICS; FAULT TOLERANT COMPUTER SYSTEMS; MANIPULATORS; TIME DOMAIN ANALYSIS;

FAULT DETECTION; FAULT ISOLATION; OBSERVERS;

INDUSTRIAL ROBOTS;

EID: 33750153664     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S0263574705002614     Document Type: Article

References (24)

1. P. M. Frank, "Analytical and qualitative model-based fault diagnosis - A survey and some new results," European Journal ofControl 2, 6-28 (1996).
2. J. Chen and R. Patton, Robust Model-Based Fault Diagnosis for Dynamic Systems (Kluwer Academic Publisher, Boston, 1999).
3. R. Isermann and B. Freyermuth, "Process fault diagnosis based on process model knowledge - Part I: Principles for fault diagnosis with parameter estimation," ASME J. of Dynamic Systems, Measurement, and Control 113, 620-626 (1991).
4. R. Isermann and B. Freyermuth, "Process fault diagnosis based on process model knowledge - Part II: Case study, experiments," ASME J. of Dynamic Systems, Measurement, and Control 113, 627-633 (1991).
5. M. M. Polycarpou and A. J. Helmicki, "Automated fault detection and accomodation: A learning systems approach," IEEE Transactions on Systems, Man, and Cybernetics 25, 1447-1458 (1995).
6. A. Vemuri and M. M. Polycarpou, "Robust nonlinear fault diagnosis in input-output systems," International Journal of Control 68, 343-360 (1996).
7. M. A. Demetriou and M. M. Polycarpou, "Incipient fault diagnosis of dynamical systems using online approximators," IEEE Transactions on Automatic Control 43, 1612-1617 (1998).
8. A. T. Vemuri, "Sensor Bias Fault Diagnosis in a Class of Nonlinear Systems," IEEE Transactions on Automatic Control 46, 949-954 (2001).
9. X. Zhang, M. M. Polycarpou and T. Parisini, "A Robust Detection and Isolation Scheme for Abrupt and Incipient Faults in Nonlinear Systems," IEEE Transactions on Automatic Control 47, 576-593 (2002).
10. B. Freyermuth, "An approach to model based fault diagnosis of industrial robots," Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA (1991) pp. 1350-1356.
11. H. Schneider and P. M. Frank, "Observer-based supervision and fault detection in robots using nonlinear and fuzzy logic residual evaluation," IEEE Transactions on Control Systems Technology 4, 274-282 (1996).
12. W. Dixon, I. Walker, D. Dawson and J. Hartranft, "Fault detection for robot manipulators with parametric uncertainty: a prediction-erro-based approach," IEEE Transactions on Robotics and Automation 16, 689-699 (2000).
13. M. L. Visinsky, J. R. Cavallaro and I. D. Walker, "A dynamic fault tolerance framework for remote robots," IEEE Transactions on Robotics and Automation 11, 477-490 (1995).
14. E. Y. Chow and A. S. Willsky, "Analytical redundancy and the design of robust failure detection systems," IEEE Transactions on Automatic Control 29, 603-614 (1984).
15. A. T. Vemuri, M. M. Polycarpou and S. A. Diakourtis, "Neural network based fault detection in robotic manipulators," IEEE Transactions on Automatic Control 14, 342-348 (1998).
16. A. De Luca and R. Mattone, "Actuator failure detection and isolation using generalized momenta," Proceedings of the 2003 IEEE International Conference on Robotics & Automation, Taipei, Taiwan (2003) pp. 634-639.
17. A. De Luca and R. Mattone, "An adapt-and-detect actuator FDI scheme for robot manipulators," Proceedings of the 2004 IEEE International Conference on Robotics & Automation, New Orleans, LA (2004) pp. 4975-4980.
18. F. Caccavale and I. D. Walker, "Observer-based fault detection for robot manipulators", Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM (1997) pp. 2881-2887.
19. F. Caccavale, "Experiments of Observer-based Fault Detection for an Industrial Robot," Proceedings of the 1998 IEEE International Conference on Control Applications, Trieste, Italy (1998) pp. 480-484.
20. G. de Vahl Davis, Numerical Methods in Engineering and Science (Allen & Unwin, London, 1986).
21. C. P. Neumann and V. D. Tourassis, "Discrete dynamic robot models," IEEE Transactions on Systems, Man, and Cybernetics 15, No. 2, 193-204 (1985).
22. K. Youcef-Toumi and O. Ito, "A time delay controller design for systems with unknown dynamics," ASME Journal of Dynamic Sytems, Measurement, and Control 112, No. 1, 133-142 (1990).
23. R. H. C. Takahashi and P. L. D. Peres, "Unknown input observers for uncertain systems: A unifying approach," European Journal of Control 5, 261-275 (1999).
24. G. Antonelli, F. Caccavale and P. Chiacchio, "A systematic procedure for the identification of dynamic parameters of robot manipulators," Robotica 17, part 3, 427-435 (1999).