Actuators fault diagnosis for robot manipulators with uncertain model |
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| Affiliation: | 1. Dipartimento di Ingegneria e Fisica dell’Ambiente, Università degli Studi della Basilicata, Via dell’Ateneo Lucano 10, 85100 Potenza, Italy;2. Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Via Claudio 21, 80125 Napoli, Italy;1. Department of Mechanical Engineering, University of Tabriz, Iran;2. School of Engineering Emerging Technologies, Mechatronics Laboratory, University of Tabriz, Iran;1. Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, Quebec H3G 1M8, Canada;2. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China;3. Department of Information and Control Engineering, Xi’an University of Technology, Xi’an, Shaanxi 710048, China;1. College of Electronic Information Engineering, Xi’an Technological University, Xi’an 710065, China;2. Xi''an Modern Control Technology Research Institute, Xi''an, 710111, China;1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;2. Jiangsu Key Laboratory of Internet of Things and Control Technologies, Nanjing University of Aeronautics and Astronautics, China;3. School of Engineering and Digital Arts, University of Kent, Canterbury, Kent CT2 7NT, United Kingdom |
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| Abstract: | In this paper a fault diagnosis approach for robotic manipulators, subject to faults of the joints driving systems, is developed. A model-based diagnostic observer is adopted to detect, isolate and identify failures. Compensation of unknown dynamics, uncertainties and disturbances is achieved through the adoption of a class of neural interpolators, the support vector machines and trained off-line. Interpolation of unknown faults is performed by adopting an on-line neural interpolator based on radial basis functions, whose weights are adaptively tuned on-line. The effectiveness of the approach is experimentally tested on an industrial robot manipulator. |
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