Fault identification for robot manipulators

@article{McIntyre2005FaultIF,
  title={Fault identification for robot manipulators},
  author={Michael L. McIntyre and Warren E. Dixon and Darren M. Dawson and Ian D. Walker},
  journal={IEEE Transactions on Robotics},
  year={2005},
  volume={21},
  pages={1028-1034}
}
  • Michael L. McIntyre, Warren E. Dixon, +1 author Ian D. Walker
  • Published in IEEE Transactions on Robotics 2005
  • Mathematics, Computer Science
  • Several factors must be considered for robotic task execution in the presence of a fault, including: detection, identification, and accommodation for the fault. In this paper, a nonlinear observer is used to identify a class of actuator faults once the fault has been detected by some other method. Advantages of the proposed fault-identification method are that it is based on the nonlinear dynamic model of a robot manipulator (and hence, can be extended to a number of general Euler Lagrange… CONTINUE READING

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