An adapt-and-detect actuator FDI scheme for robot manipulators
- 1 January 2004
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 5 (10504729) , 4975-4980 Vol.5
- https://doi.org/10.1109/robot.2004.1302506
Abstract
An adaptive scheme is presented for actuator fault detection and isolation (FDI) in robotic systems, based on the use of generalized momenta and of a suitable overparametrization of the uncertain robot dynamics. This allows to obtain an accurate and reliable detection and isolation of possibly concurrent faults also during the parameter adaptation phase. Experimental results are reported for a planar robot under gravity, considering partial, total, or bias-type failures of the motor torques.Keywords
This publication has 3 references indexed in Scilit:
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