We present a method based on the use of generalized momenta for detecting and isolating actuator faults in robot manipulators. The FDI scheme does not need acceleration estimates or simulation of the nominal robot dynamics and covers a general class of input faults. Numerical results for a 2R robot undergoing also concurrent actuator faults are reported. The method is extended to robots with joint elasticity and to the inclusion of actuator dynamics.
Actuator failure detection and isolation using generalized momenta / DE LUCA, Alessandro; R., Mattone. - 1:(2003), pp. 634-639. (Intervento presentato al convegno 20th IEEE International Conference on Robotics and Automation (ICRA) tenutosi a TAIPEI, TAIWAN nel SEP 14-19, 2003) [10.1109/robot.2003.1241665].
Actuator failure detection and isolation using generalized momenta
DE LUCA, Alessandro;
2003
Abstract
We present a method based on the use of generalized momenta for detecting and isolating actuator faults in robot manipulators. The FDI scheme does not need acceleration estimates or simulation of the nominal robot dynamics and covers a general class of input faults. Numerical results for a 2R robot undergoing also concurrent actuator faults are reported. The method is extended to robots with joint elasticity and to the inclusion of actuator dynamics.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
