A fault detection and isolation system for cooperative manipulators
Autor(a) principal: | |
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Data de Publicação: | 2008 |
Outros Autores: | |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Sba: Controle & Automação Sociedade Brasileira de Automatica |
Texto Completo: | http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592008000400004 |
Resumo: | The problem of fault detection and isolation (FDI) in cooperative manipulators is addressed in this paper. Four FDI procedures are developed to deal with free-swinging joint faults, locked joint faults, incorrectly measured joint position, and incorrectly measured joint velocity. Free-swinging and locked joint faults are isolated via neural networks. For each arm, a Multilayer Perceptron (MLP) is used to reproduce the dynamics of the fault-free robot. The outputs of each MLP are compared to the actual joint velocities in order to generate a residual vector which is then classified by an RBF network. The remaining faults are isolated based on the kinematic constraints imposed on the cooperative system. Results obtained via simulations and via an actual cooperative manipulator robot are presented. |
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A fault detection and isolation system for cooperative manipulatorsFault DetectionFault IsolationRobotic ManipulatorsCo-operationNeural NetworksThe problem of fault detection and isolation (FDI) in cooperative manipulators is addressed in this paper. Four FDI procedures are developed to deal with free-swinging joint faults, locked joint faults, incorrectly measured joint position, and incorrectly measured joint velocity. Free-swinging and locked joint faults are isolated via neural networks. For each arm, a Multilayer Perceptron (MLP) is used to reproduce the dynamics of the fault-free robot. The outputs of each MLP are compared to the actual joint velocities in order to generate a residual vector which is then classified by an RBF network. The remaining faults are isolated based on the kinematic constraints imposed on the cooperative system. Results obtained via simulations and via an actual cooperative manipulator robot are presented.Sociedade Brasileira de Automática2008-12-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592008000400004Sba: Controle & Automação Sociedade Brasileira de Automatica v.19 n.4 2008reponame:Sba: Controle & Automação Sociedade Brasileira de Automaticainstname:Sociedade Brasileira de Automática (SBA)instacron:SBA10.1590/S0103-17592008000400004info:eu-repo/semantics/openAccessTinós,RenatoTerra,Marco Henriqueeng2009-01-20T00:00:00Zoai:scielo:S0103-17592008000400004Revistahttps://www.sba.org.br/revista/PUBhttps://old.scielo.br/oai/scielo-oai.php||revista_sba@fee.unicamp.br1807-03450103-1759opendoar:2009-01-20T00:00Sba: Controle & Automação Sociedade Brasileira de Automatica - Sociedade Brasileira de Automática (SBA)false |
dc.title.none.fl_str_mv |
A fault detection and isolation system for cooperative manipulators |
title |
A fault detection and isolation system for cooperative manipulators |
spellingShingle |
A fault detection and isolation system for cooperative manipulators Tinós,Renato Fault Detection Fault Isolation Robotic Manipulators Co-operation Neural Networks |
title_short |
A fault detection and isolation system for cooperative manipulators |
title_full |
A fault detection and isolation system for cooperative manipulators |
title_fullStr |
A fault detection and isolation system for cooperative manipulators |
title_full_unstemmed |
A fault detection and isolation system for cooperative manipulators |
title_sort |
A fault detection and isolation system for cooperative manipulators |
author |
Tinós,Renato |
author_facet |
Tinós,Renato Terra,Marco Henrique |
author_role |
author |
author2 |
Terra,Marco Henrique |
author2_role |
author |
dc.contributor.author.fl_str_mv |
Tinós,Renato Terra,Marco Henrique |
dc.subject.por.fl_str_mv |
Fault Detection Fault Isolation Robotic Manipulators Co-operation Neural Networks |
topic |
Fault Detection Fault Isolation Robotic Manipulators Co-operation Neural Networks |
description |
The problem of fault detection and isolation (FDI) in cooperative manipulators is addressed in this paper. Four FDI procedures are developed to deal with free-swinging joint faults, locked joint faults, incorrectly measured joint position, and incorrectly measured joint velocity. Free-swinging and locked joint faults are isolated via neural networks. For each arm, a Multilayer Perceptron (MLP) is used to reproduce the dynamics of the fault-free robot. The outputs of each MLP are compared to the actual joint velocities in order to generate a residual vector which is then classified by an RBF network. The remaining faults are isolated based on the kinematic constraints imposed on the cooperative system. Results obtained via simulations and via an actual cooperative manipulator robot are presented. |
publishDate |
2008 |
dc.date.none.fl_str_mv |
2008-12-01 |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592008000400004 |
url |
http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592008000400004 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
10.1590/S0103-17592008000400004 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
text/html |
dc.publisher.none.fl_str_mv |
Sociedade Brasileira de Automática |
publisher.none.fl_str_mv |
Sociedade Brasileira de Automática |
dc.source.none.fl_str_mv |
Sba: Controle & Automação Sociedade Brasileira de Automatica v.19 n.4 2008 reponame:Sba: Controle & Automação Sociedade Brasileira de Automatica instname:Sociedade Brasileira de Automática (SBA) instacron:SBA |
instname_str |
Sociedade Brasileira de Automática (SBA) |
instacron_str |
SBA |
institution |
SBA |
reponame_str |
Sba: Controle & Automação Sociedade Brasileira de Automatica |
collection |
Sba: Controle & Automação Sociedade Brasileira de Automatica |
repository.name.fl_str_mv |
Sba: Controle & Automação Sociedade Brasileira de Automatica - Sociedade Brasileira de Automática (SBA) |
repository.mail.fl_str_mv |
||revista_sba@fee.unicamp.br |
_version_ |
1754824564829847552 |