A Neural Network ication to Fault Diagnosis for Ro

  title={A Neural Network ication to Fault Diagnosis for Ro},
  author={J. D. Mac Naughton and Y. C. Chen and Jianju Jiang},
This paper illustrates a new approach of performing fault detection and isolation for robotic manipulators. The neural network fault isolation monitor utilizes a non-linear observer to generate a residual set. This residual set is presented to an artificial feed forward neural network with full connectivity. The neural network extracts specific characteristics which correlate to the operational mode of the system during the off-line training session. Once trained, the network performs… CONTINUE READING

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