Actuators fault diagnosis for robot manipulators with uncertain model

• Published in: Control engineering practice Vol. 17; no. 1; pp. 146 - 157
• Main Authors: Caccavale, F., Cilibrizzi, P., Pierri, F., Villani, L.
• Format: Journal Article
• Language: English
• Published: Oxford Elsevier Ltd 2009; Elsevier
• Subjects: Applied sciences; Computer science; control theory; systems; Control theory. Systems; Drives; Exact sciences and technology; Fault diagnosis; Linkage mechanisms, cams; Mechanical engineering. Machine design; Modelling and identification; Observers; Radial basis functions; Robotic manipulators; Robotics; Support vector machines; Fault diagnosis; Support vector machines; Observers; Radial basis functions; Robotic manipulators; Industrial robot; dynamic control; Modeling; Robotics; Manipulator; Radial basis function; Uncertain system; Observer; Vector support machine; System identification; Fault diagnostic; Actuator
• ISSN: 0967-0661; 1873-6939
• DOI: 10.1016/j.conengprac.2008.05.012

In this paper a fault diagnosis approach for robotic manipulators, subject to faults of the joints driving systems, is developed. A model-based diagnostic observer is adopted to detect, isolate and identify failures. Compensation of unknown dynamics, uncertainties and disturbances is achieved through the adoption of a class of neural interpolators, the support vector machines and trained off-line. Interpolation of unknown faults is performed by adopting an on-line neural interpolator based on radial basis functions, whose weights are adaptively tuned on-line. The effectiveness of the approach is experimentally tested on an industrial robot manipulator.