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A time-delayed observer for fault detection and isolation in industrial robots

Published online by Cambridge University Press:  14 February 2006

F. Caccavale,
P. Chiacchio and
I. D. Walker
P. Chiacchio
Affiliation:
Dipartimento di Ingegneria dell'Informazione ed Ingegneria Elettrica, Università degli Studi di Salerno Via Ponte Don Melillo, 84084 Fisciano, Salerno (Italy).
I. D. Walker
Affiliation:
Department of Electrical and Computer Engineering Clemson, University Fluor Daniel Engineering Innovation Building Clemson, SC 29634 (USA).
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Abstract

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In this paper a discrete-time observer-based approach to Fault Detection and Isolation (FDI) for industrial robotic manipulators is presented and experimentally tested. In order to counteract the effects of unmodeled dynamics and disturbances, a time-delayed estimate of such effects is adopted. Remarkably, the observer is designed directly in the discrete-time domain. The performance of the proposed approach are experimentally verified on a six-degrees-of-freedom industrial robot.

Keywords

RobotsObserversFault detectionFault isolation

Information

Type
Article
Information
Robotica , Volume 24 , Issue 5 , September 2006, pp. 557 - 565
Copyright
2006 Cambridge University Press