Abstract
In the last decade considerable research efforts have been spent to seek for systematic approaches to Fault Diagnosis (FD) in dynamical systems. Special attention has been put in robotic systems, especially for those operating in remote or hazardous environments, where a high degree of safety as well as self-diagnostics capabilities are required. On the other hand, the development of effective strategies of fault diagnosis for robot manipulators operating in an industrial context is a critical research task. Several FD techniques for robot manipulators have been proposed in the literature, although the problem of their application to industrial robots has not been extensively investigated. In this chapter different discretetime observer-based approaches to FD for mechanical manipulators are presented and critically compared. First, a rough FD technique is considered, which is based solely on the prediction capabilities of the manipulator dynamic model. Next, an observer-based technique is presented, where a robust time-delayed compensation is introduced to cope with disturbances and modeling uncertainties. Finally, two different observer-based schemes are developed, where the uncertain terms in the model are dynamically estimated: the first scheme is based on the recursive estimation of the uncertain terms, while the second one adaptively estimates the parameters of a suitable parametric model of the uncertainties. All the considered schemes are experimentally tested on a six-degree-of-freedom industrial robot and the performance are critically compared each other.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Antonelli G., Caccavale F., Chiacchio P. (1999) A Systematic Procedure for the Identification of Dynamic Parameters of Robot Manipulators. Robotica 17:427–435
Caccavale F., Walker I.D. (1997) Observer-Based Fault Detection for Robot Manipulators. Proc. of 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, 2881–2887
Caccavale F. (1998) Experiments of Observer-based Fault Detection for an Industrial Robot. Proc. of 1998 IEEE International Conference on Control Applications, Trieste, I, 480–484
Chen J., Patton R.J. (1999) Robust Model Based Fault Diagnosis for Dynamic Systems. Kluwer Academic Publishers, Boston
Chow E.Y., Willsky A.S. (1984) Analytical Redundancy and the Design of Robust Failure Detection Systems. IEEE Transactions on Automatic Control 29:603–614
Demetriou M.A., Polycarpou M.M. (1998) Incipient Fault Diagnosis of Dynamical Systems Using Online Approximators. IEEE Transactions on Automatic Control 43:1612–1617
de Vahl Davis G. (1986) Numerical Methods in Engineering and Science. Allen & Unwin, London
Ferretti G., Magnani G., Rocco P. (1998) Modeling, Identification, and Compensation of Pulsating Torque in Permanent Magnet AC Motors. IEEE Transactions on Industrial Electronics 45:912–920
Freyermuth B. (1991) An Approach to Model Based Fault Diagnosis of Industrial Robots. Proc. of 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, 1350–1356
Frank P.M. (1990) Fault Diagnosis in Dynamic Systems Using Analytical and Knowledge-Based Redudancy-A Survey and Some New Results. Automatica 26:459–474
Frank P.M. (1996) Analytical and Qualitative Model-Based Fault Diagnosis-A Survey and Some New Results. European Journal of Control 2:6–28
Gertler J. (1998) Fault Detection and Diagnosis in Engineering Systems. Marcel Dekker Inc., New York
Isermann R., Freyermuth B. (1991) 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
Isermann R., Freyermuth B. (1991) Process Fault Diagnosis Based on Process Model Knowledge-Part II: Case Study, Experiment. ASME J. of Dynamic Systems, Measurement, and Control 113:627–633
Neumann C.P., Tourassis V.D. (1985) Discrete Dynamic Robot Models. IEEE Transactions on Systems, Man, and Cybernetics 15:193–204
Patton R.J., Frank P.M., Clark R.N. (2000) Issues in Fault Diagnosis for Dynamic Systems. Springer-Verlag, London
Patton R.J., Uppal F.J., Lopez-Toribio C.J. (2000) Soft Computing Approaches to Fault Diagnosis for Dynamic Systems: A Survey. Preprints of the 4th IFAC Symposium on Fault Detection Supervision and Safety for Technical Processes, Budapest, H, 298–311
Polycarpou M.M., Helmicki A.J. (1995) Automated Fault Detection and Accomodation: A Learning Systems Approach. IEEE Transactions on Systems, Man, and Cybernetics 25:1447–1458
Schneider H., Frank P.M. (1996) Observer-Based Supervision and Fault Detection in Robots Using Nonlinear and fuzzy logic residual evaluation. IEEE Transactions on Control Systems Technology 4:274–282
Sciavicco L., Siciliano B. (2000) Modeling and Control of Robot Manipulators. Springer-Verlag, London
Takahashi R.H.C., Peres P.L.D. (1999) Unknown Input Observers for Uncertain Systems: A Unifying Approach. European Journal of Control 5:261–275
Trunov A.B., Polycarpou M.M. (2000) Automated Fault Diagnosis in Nonlinear Multivariable Systems Using a Learning Methodology. IEEE Transactions on Neural Networks 11:91–101
Vemuri A.T. (2001) Sensor Bias Fault Diagnosis in a Class of Nonlinear Systems. IEEE Transactions on Automatic Control 46:949–954
Vemuri A., Polycarpou M.M. (1996) Robust Nonlinear Fault Diagnosis in Input-Output Systems. International Journal of Control 68:343–360
Vemuri A.T., Polycarpou M.M., Diakourtis S.A. (1998) Neural Network Based Fault Detection in Robotic Manipulators. IEEE Transactions on Automatic Control 14:342–348
Visinsky M.L., Cavallaro J.R., Walker I.D. (1995) A Dynamic Fault Tolerance Framework for Remote Robots. IEEE Transactions on Robotics and Automation 11:477–490
Youcef-Toumi K., Ito O. (1990) A Time Delay Controller Design for Systems with Unknown Dynamics. ASME Journal of Dynamic Sytems, Measurement, and Control 112:133–142
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2003 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Caccavale, F., Villani, L. (2003). Fault Diagnosis for Industrial Robots. In: Caccavale, F., Villani, L. (eds) Fault Diagnosis and Fault Tolerance for Mechatronic Systems:Recent Advances. Springer Tracts in Advanced Robotics, vol 1. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45737-2_3
Download citation
DOI: https://doi.org/10.1007/3-540-45737-2_3
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-44159-5
Online ISBN: 978-3-540-45737-4
eBook Packages: Springer Book Archive