Distributed fault detection for modular and reconfigurable robots with joint torque sensing: A prediction error based approach

被引：31
|
作者：
Ahmad, Saleh [1 ]
Zhang, Hongwei [1 ]
Liu, Guangjun [1 ]
机构：
[1] Ryerson Univ, Dept Aerosp Engn, Toronto, ON M5B 2K3, Canada
来源：
MECHATRONICS | 2013年 / 23卷 / 06期
关键词：
Fault detection; Nonlinear dynamics; Modular and reconfigurable robot; Joint torque sensing; MANIPULATORS; IDENTIFICATION; ARM;
D O I：
10.1016/j.mechatronics.2013.05.008
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A distributed fault detection scheme for modular and reconfigurable robots (MRRs) with joint torque sensing is proposed in this paper. With the proposed scheme, the joint torque command is filtered and compared with a filtered torque estimate derived from the nonlinear dynamic model of MRR with joint torque sensing. Common joint actuator faults are considered with fault detection being performed independently for each joint module. The proposed fault detection scheme for each module does not require motion states of any other module making it an ideal modular approach for fault detection of modular robots. Experimental results have confirmed the effectiveness of the proposed fault detection scheme. Crown Copyright (C) 2013 Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：607 / 616
页数：10
相关论文
共 50 条
  • [1] Model-based Fault Detection of Modular and Reconfigurable Robots with Joint Torque Sensing
    Ahmad, Saleh
    Liu, Guangjun
    [J]. 2013 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM): MECHATRONICS FOR HUMAN WELLBEING, 2013, : 134 - 139
  • [2] Decentralised fault tolerance and fault detection of modular and reconfigurable robots with joint torque sensing
    Abdul, Sajan
    Liu, Guangjun
    [J]. 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, 2008, : 3520 - 3526
  • [3] Fault tolerant control of modular and reconfigurable robot with joint torque sensing
    Abdul, Sajan
    Liu, Guangjun
    [J]. 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, 2007, : 1236 - 1241
  • [4] Distributed modular and reconfigurable robot control with torque sensing
    Liu, Guangjun
    Abdul, Sajan
    Goldenberg, Andrew A.
    [J]. IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2006, : 384 - +
  • [5] Distributed control of modular and reconfigurable robot with torque sensing
    Liu, Guangjun
    Abdul, Sajan
    Goldenberg, Andrew A.
    [J]. ROBOTICA, 2008, 26 : 75 - 84
  • [6] Decentralized Control of Reconfigurable Robots Using Joint-Torque sensing
    Almodaresi, Seyed Mostafa Yazdi
    [J]. 2015 3RD RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM), 2015, : 581 - 585
  • [7] Detector: Hierarchical Distributed Fault Detection Algorithm for Lattice Based Modular Robots
    Hourany, Edy
    Piranda, Benoit
    Makhoul, Abdallah
    Bourgeois, Julien
    Habib, Bachir
    [J]. ADVANCED INFORMATION NETWORKING AND APPLICATIONS, AINA-2022, VOL 2, 2022, 450 : 118 - 129
  • [8] A Novel Approach for Creating Modular Reconfigurable Robots with Distributed Power System
    Romanov, Alexey M.
    Mikheenko, Ivan S.
    [J]. PROCEEDINGS OF THE 2018 IEEE CONFERENCE OF RUSSIAN YOUNG RESEARCHERS IN ELECTRICAL AND ELECTRONIC ENGINEERING (EICONRUS), 2018, : 974 - 978
  • [9] Distributed fault-tolerant control of modular and reconfigurable robots with consideration of actuator saturation
    Fan Zhou
    Keping Liu
    Yuanchun Li
    Guangjun Liu
    [J]. Neural Computing and Applications, 2020, 32 : 13591 - 13604
  • [10] Distributed fault-tolerant control of modular and reconfigurable robots with consideration of actuator saturation
    Zhou, Fan
    Liu, Keping
    Li, Yuanchun
    Liu, Guangjun
    [J]. NEURAL COMPUTING & APPLICATIONS, 2020, 32 (17): : 13591 - 13604
12345