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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2012.7
- 수록면
- 669 - 672 (4page)
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This paper investigates an algorithm for robust fault diagnosis in robot manipulators. The TOSM (Third Order Sliding Mode observer) provides both theoretically exact observation and unknown fault identification without filtration. The EOI (Equivalent Output Injections) of the TOSM observers can be used as residuals for the problem of fault diagnosis and to identify the unknown faults. The obtained fault information can be used for fault detection, isolation as well as fault accommodation to the selfcorrecting failure system. The computer simulation results for a PUMA 560 robot are shown to verify the effectiveness of the proposed strategy.
목차
Abstract
Ⅰ. INTRODUCTION
Ⅱ. PROBLEM FORMULATION
Ⅲ. FAULT DIAGNOSIS OBSERVER
Ⅳ. SIMULATION RESULTS
Ⅴ. CONCLUSIONS
REFERENCES
참고문헌 (20)
참고문헌 신청
1. [학술지(정기간행물)] - J. J. Gertler / 1988 / Survey of model-based failure detection and isolation in complex plants / IEEE Control Systems Magazine 8 (6) : 3 ~ 11
2. [학술지(정기간행물)] - P. M. Frank / 1997 / Survey of robust residual generation and evaluation methods in observer-based fault detection systems / Journal of Process Control 7 (6) : 403 ~ 424
3. [학술지(정기간행물)] - M. M. Polycarpou / 2000 / Learning approach to nonlinear fault diagnosis: detectability analysis / IEEE Trans. Automat. Contr. 45 (4) : 806 ~ 812
4. [학술지(정기간행물)] - A. T. Vemuri / 1997 / Neural network based robust fault diagnosis in robotic systems / IEEE Trans. Neural Networks 8 : 1410 ~ 1420
5. [단행본] - M. Van / 2011 / A robust fault detection and isolation scheme for robot manipulators based on neural networks / Springer-Verlag : 25 ~ 32
2. [학술지(정기간행물)] - P. M. Frank / 1997 / Survey of robust residual generation and evaluation methods in observer-based fault detection systems / Journal of Process Control 7 (6) : 403 ~ 424
3. [학술지(정기간행물)] - M. M. Polycarpou / 2000 / Learning approach to nonlinear fault diagnosis: detectability analysis / IEEE Trans. Automat. Contr. 45 (4) : 806 ~ 812
4. [학술지(정기간행물)] - A. T. Vemuri / 1997 / Neural network based robust fault diagnosis in robotic systems / IEEE Trans. Neural Networks 8 : 1410 ~ 1420
5. [단행본] - M. Van / 2011 / A robust fault detection and isolation scheme for robot manipulators based on neural networks / Springer-Verlag : 25 ~ 32
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UCI(KEPA) : I410-ECN-0101-2013-569-003345792