An adapt-and-detect actuator FDI scheme for robot manipulators

被引：40

作者：

De Luca, A ^{[1
]}

Mattone, R ^{[1
]}

机构：

[1] Univ Roma La Sapienza, Dipartimento Informat & Sistemist, Rome, Italy

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

fault detection and isolation; robot actuator faults; nonlinear observers; adaptive schemes;

D O I：

10.1109/ROBOT.2004.1302506

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An adaptive scheme is presented for actuator fault detection and isolation (FDI) in robotic systems, based on the use of generalized momenta and of a suitable overparametrization of the uncertain robot dynamics. This allows to obtain an accurate and reliable detection and isolation of possibly concurrent faults also during the parameter adaptation phase. Experimental results are reported for a planar robot under gravity, considering partial, total, or bias-type failures of the motor torques.

引用

页码：4975 / 4980

页数：6