Sensor fault diagnosis for manipulators performing interaction tasks

IEEE International Symposium on Industrial Electronics

Volumn , Issue , 2010, Pages 2121-2126

  Caccavale, Fabrizio ^a   Marino, Alessandro ^a   Pierri, Francesco ^a  

^a UNIVERSITY OF BASILICATA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

COOPERATIVE ROBOTICS; DISCRETE-TIME MODEL; FAULT DIAGNOSIS; FORCE/TORQUE SENSOR; MANIPULATOR SYSTEMS; SENSOR FAULT; SENSOR FAULT DIAGNOSIS; SIX-DOF; WORKCELL;

INDUSTRIAL ELECTRONICS; INDUSTRY; SENSORS;

MANIPULATORS;

EID: 78650327329     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ISIE.2010.5637775     Document Type: Conference Paper

References (17)

1. J. Chen, R.J. Patton, "Robust model-based fault diagnosis for dynamic systems," Kluver Academic Publishers, Dordrecht, 1999.
2. 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.
3. 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.
4. A.T. Vemuri, M.M. Polycarpou, "A Methodology for Fault Diagnosis in Robotic Systems Using Neural Networks," Robotica, 22, 419-438, 2004.
5. F. Caccavale, P. Chiacchio, I.D. Walker, "A time-delayed observer for fault detection and isolation in industrial robots," Robotica, 24, 557-565, 2006.
6. F. Caccavale, L. Villani, Fault Diagnosis for Industrial Robots, in Fault Diagnosis and Fault Tolerance for Mechatronic Systems: Recent Advances, F. Caccavale and L. Villani (Eds.). Springer-Verlag, London, 2002.
7. F. Caccavale, F. Pierri, L. Villani, "An adaptive observer for fault diagnosis in nonlinear discrete-time systems," ASME J. of Dynamic Systems, Measurement and Control, 130, 1-9, 2008.
8. G. Paviglianiti, F. Pierri, F. Caccavale, M. Mattei, "Robust fault detection and isolation for proprioceptive sensors of robot manipulators," Mechatronics 2009, doi:10.1016/j.mechatronics.2009.09.003
9. W. Dixon, I.D. Walker, D. Dawson, J. Hartranft, "Fault detection for robot manipulators with parametric uncertainty: a prediction-error-based approach," IEEE Trans. on Robotics and Automation, 16, 689-699, 2000.
10. R. Mattone, A. De Luca, "Relaxed fault detection and isolation: An application to a nonlinear case study," Automatica, 42, 109116, 2006.
11. R. Tinós, M.H. Terra, M. Bergerman, "Fault detection and isolation in cooperative manipulators via artificial neural networks," Proc. of IEEE conference on control applications, 988-1003, 2001.
12. R. Tinós, M.H. Terra, M. Bergerman, "A fault tolerance framework for cooperative robotic manipulators," Control Engineering Practice, 15, 615-625, 2007.
13. M. Uchiyama, and P. Dauchez, "Symmetric kinematic formulation and non-master/slave coordinated control of two-arm robots," Advanced Robotics, 7, 361-383, 1993.
14. F. Caccavale, M. Uchiyama, Springer Handbook of Robotics, Chapter 29. Cooperative Manipulators, pp. 701-716. B. Siciliano, O. Khatib, (Eds.), Springer-Verlag, Heidelberg, D., 2008.
15. S. Haykin, Neural Networks: A Comprehensive Foundation, Prentice Hall, Upper Saddle River, NJ, 1998.
16. K.J. Åström and B. Wittenmark, Adaptive control (2nd Edition), Addison-Wesley, 1995.
17. F. Caccavale, V. Lippiello, B. Siciliano, L. Villani, "RePLiCS: An environment for open real-time control of a dual-arm industrial robotic cell based on RTAI-Linux", 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, CND, 2005.