NDLI: New dynamic model-based fault detection thresholds for robot manipulators

Content Provider	IEEE Xplore Digital Library
Author	Visinsky, M.L. Walker, I.D. Cavallaro, J.R.
Copyright Year	1994
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Rice Univ., Houston, TX, USA (Visinsky, M.L.; Walker, I.D.; Cavallaro, J.R.)
Abstract	Autonomous robotic fault detection is becoming increasingly important as robots are used in more inaccessible and hazardous environments. Detection algorithms, however, are adversely effected by the model simplification, parameter uncertainty, and computational inaccuracy inherent in robotic control, leading to an unacceptable number of false alarms and overzealous fault tolerance. The algorithms must use thresholds to mask out these errors. Typically, the thresholds are empirically determined from a specific robot trajectory. The effect of modeling inaccuracy, however, fluctuates dynamically as the robot moves and failures occur. The thresholds need to be dynamic and respond to the changes in the robot system so as to differentiate between real failures and misalignment due to modeling errors. This paper first summarizes the reachable measurement intervals (RMI) method of computing dynamic thresholds and then, learning from the robot-oriented analysis of RMI, presents a more efficient threshold generation method using the manipulator dynamics property of linearity in parameters.
Starting Page	1388
Ending Page	1395
File Size	699236
Page Count	8
File Format	PDF
ISBN	0818653302
DOI	10.1109/ROBOT.1994.351295
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-05-08
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulator dynamics Fault detection Orbital robotics Electrical fault detection Legged locomotion Condition monitoring Redundancy Robot sensing systems Equations Algorithm design and analysis
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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