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EnglishThis paper presents a model-based fault detection (FD) and isolation scheme for rigid manipulators. A single fault acting on a specific actuator or on a specific sensor of the manipulator is detected (and, if possible, the exact location of the fault), and an estimation of the fault signal is performed. Input-signal estimator and output observers are considered in order to make the FD procedure possible. By using the suboptimal second-order sliding-mode (SOSM) algorithm to design the input laws of the observers, satisfactory stability properties of the observation error are established. The proposed algorithm is verified in simulation and experimentally on a COMAU SMART3-S2 robot manipulator.
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| Titolo: | Fault detection for robot manipulators via second order sliding modes | |
| Autori: | ||
| Data di pubblicazione: | 2008 | |
| Rivista: | ||
| Abstract: | This paper presents a model-based fault detection (FD) and isolation scheme for rigid manipulators. A single fault acting on a specific actuator or on a specific sensor of the manipulator is detected (and, if possible, the exact location of the fault), and an estimation of the fault signal is performed. Input-signal estimator and output observers are considered in order to make the FD procedure possible. By using the suboptimal second-order sliding-mode (SOSM) algorithm to design the input laws of the observers, satisfactory stability properties of the observation error are established. The proposed algorithm is verified in simulation and experimentally on a COMAU SMART3-S2 robot manipulator. | |
| Handle: | http://hdl.handle.net/11571/135536 | |
| Appare nelle tipologie: | 1.1 Articolo in rivista |
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http://hdl.handle.net/11571/135536
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