Adaptive State Observer for Robot Manipulators Diagnostics and Health Degree Assessment

Applied Sciences

Sanlei Dang¹  Yilin Ji¹  Yongwang Zhang¹  Long Peng¹  Zhengmin Kong² 

[1] Metering Center of Guangdong Power Grid Co.Ltd., Guangzhou 510080, China;School of Electrical Engineering and Automation, Wuhan University, Wuhan 430072, China;

关键词: fault diagnostics;    health degree assessment;    robot manipulator system;    adaptive observer;    equipment maintenance and management;   

DOI  :  10.3390/app10020514

来源: DOAJ

【 摘 要 】

To avoid serious damages caused by the dynamic environment, fault detection and health assessment are essential for an integrated robotic system. In this paper, we propose a fault detection algorithm and a health degree assessment approach for a robot manipulator system. Both the internal disturbance and the output measurement disturbance are considered in the proposed method. In addition, an adaptive observer is utilized to reconstruct the real system of robot manipulators. Under the proposed observer, the real system is estimated to detect the fault and obtain the health degree of the robot manipulator. The feasibility and reliability of the proposed fault detection algorithm and health degree assessment index for robot manipulator systems are proved by simulation experiments.

【 授权许可】

Unknown