Actuator fault detection and isolation for robot manipulators with the adaptive observer

被引：9

作者：

Guo, Shaocong ^{[1
]}

Yang, Mohan ^{[2
]}

Xing, Zirui ^{[1
]}

Li, Yi ^{[1
]}

Qiu, Jiqing ^{[1
]}

机构：

[1] Hebei Univ Sci & Technol, Coll Sci, Shijiazhuang 050018, Peoples R China

[2] Hebei Univ Sci & Technol, Coll Elect Engn, Shijiazhuang 050018, Peoples R China

来源：

ADVANCED COMPOSITE MATERIALS, PTS 1-3 | 2012年 / 482-484卷

基金：

中国国家自然科学基金;

关键词：

Fault detection and isolation; actuator faults; adaptive observer;

D O I：

10.4028/www.scientific.net/AMR.482-484.529

中图分类号：

TB33 [复合材料];

学科分类号：

摘要：

The fault detection and isolation (FDI) for industrial robot manipulators, subject to faults of actuator, is devised in this paper. An adaptive observer is designed to tackle the robustness problem for unknown parameters due to faults, based on a bank of state observers. By using an adaptive regulating algorithm, the observer is ensured to be stable and the estimated errors are guaranteed to converge. Experimental results are reported for a planar robot under gravity, considering partial failures of the motor torques.

引用

页码：529 / +

页数：2

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