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Fault identification for robot manipulators

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4 Author(s)
M. L. McIntyre ; Holcombe Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA ; W. E. Dixon ; D. M. Dawson ; I. D. Walker

Several factors must be considered for robotic task execution in the presence of a fault, including: detection, identification, and accommodation for the fault. In this paper, a nonlinear observer is used to identify a class of actuator faults once the fault has been detected by some other method. Advantages of the proposed fault-identification method are that it is based on the nonlinear dynamic model of a robot manipulator (and hence, can be extended to a number of general Euler Lagrange systems), it does not require acceleration measurements, and it is independent from the controller. A Lyapunov-based analysis is provided to prove that the developed fault observer converges to the actual fault. Experimental results are provided to illustrate the performance of the identification method.

Published in:

IEEE Transactions on Robotics  (Volume:21 ,  Issue: 5 )