ROS-Based Condition Monitoring Architecture Enabling Automatic Faults Detection in Industrial Collaborative Robots
The Condition Monitoring (CM) of industrial collaborative robots (cobots) has the potential to decrease downtimes in highly automated production systems. However, in such complex systems, defining a strategy for effective CM and automatically detecting failures is not straightforward. In this paper,...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-12-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/1/143 |
| _version_ | 1797626349431554048 |
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| author | Giacomo Nabissi Sauro Longhi Andrea Bonci |
| author_facet | Giacomo Nabissi Sauro Longhi Andrea Bonci |
| author_sort | Giacomo Nabissi |
| collection | DOAJ |
| description | The Condition Monitoring (CM) of industrial collaborative robots (cobots) has the potential to decrease downtimes in highly automated production systems. However, in such complex systems, defining a strategy for effective CM and automatically detecting failures is not straightforward. In this paper, common issues related to the application of CM to collaborative manipulators are first introduced, discussed, and then, a solution based on the Robot Operating System (ROS) is proposed. The content of this document is highly oriented towards applied research and the novelty of this work mainly lies in the proposed CM architecture, while the methodology chosen to assess the manipulator’s health is based on previous research content. The CM architecture developed and the relative strategy used to process data are useful for the definition of algorithms for the automatic detection of failures. The approach is based on data labeling and indexing and aims to extract comparable data units to easily detect possible failure. The end of this paper is provided with a proof of concept (PoC) applied to an industrial collaborative manipulator where the proposed CM strategy has been implemented and tested in a real application scenario. Finally, it is shown how the proposed methodology enables the possibility of defining standard Health Indicators (HIs) to detect joint anomalies using torque information even under a highly dynamic and non-stationary environmental conditions. |
| first_indexed | 2024-03-11T10:09:09Z |
| format | Article |
| id | doaj.art-a2fd594f97494dad9781ff0a453fb345 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-11T10:09:09Z |
| publishDate | 2022-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-a2fd594f97494dad9781ff0a453fb3452023-11-16T14:51:17ZengMDPI AGApplied Sciences2076-34172022-12-0113114310.3390/app13010143ROS-Based Condition Monitoring Architecture Enabling Automatic Faults Detection in Industrial Collaborative RobotsGiacomo Nabissi0Sauro Longhi1Andrea Bonci2Dipartimento di Ingegneria dell’Informazione (DII), Università Politecnica delle Marche, 60131 Ancona, ItalyDipartimento di Ingegneria dell’Informazione (DII), Università Politecnica delle Marche, 60131 Ancona, ItalyDipartimento di Ingegneria dell’Informazione (DII), Università Politecnica delle Marche, 60131 Ancona, ItalyThe Condition Monitoring (CM) of industrial collaborative robots (cobots) has the potential to decrease downtimes in highly automated production systems. However, in such complex systems, defining a strategy for effective CM and automatically detecting failures is not straightforward. In this paper, common issues related to the application of CM to collaborative manipulators are first introduced, discussed, and then, a solution based on the Robot Operating System (ROS) is proposed. The content of this document is highly oriented towards applied research and the novelty of this work mainly lies in the proposed CM architecture, while the methodology chosen to assess the manipulator’s health is based on previous research content. The CM architecture developed and the relative strategy used to process data are useful for the definition of algorithms for the automatic detection of failures. The approach is based on data labeling and indexing and aims to extract comparable data units to easily detect possible failure. The end of this paper is provided with a proof of concept (PoC) applied to an industrial collaborative manipulator where the proposed CM strategy has been implemented and tested in a real application scenario. Finally, it is shown how the proposed methodology enables the possibility of defining standard Health Indicators (HIs) to detect joint anomalies using torque information even under a highly dynamic and non-stationary environmental conditions.https://www.mdpi.com/2076-3417/13/1/143collaborative robotscondition monitoringRobotic Operating System (ROS) |
| spellingShingle | Giacomo Nabissi Sauro Longhi Andrea Bonci ROS-Based Condition Monitoring Architecture Enabling Automatic Faults Detection in Industrial Collaborative Robots Applied Sciences collaborative robots condition monitoring Robotic Operating System (ROS) |
| title | ROS-Based Condition Monitoring Architecture Enabling Automatic Faults Detection in Industrial Collaborative Robots |
| title_full | ROS-Based Condition Monitoring Architecture Enabling Automatic Faults Detection in Industrial Collaborative Robots |
| title_fullStr | ROS-Based Condition Monitoring Architecture Enabling Automatic Faults Detection in Industrial Collaborative Robots |
| title_full_unstemmed | ROS-Based Condition Monitoring Architecture Enabling Automatic Faults Detection in Industrial Collaborative Robots |
| title_short | ROS-Based Condition Monitoring Architecture Enabling Automatic Faults Detection in Industrial Collaborative Robots |
| title_sort | ros based condition monitoring architecture enabling automatic faults detection in industrial collaborative robots |
| topic | collaborative robots condition monitoring Robotic Operating System (ROS) |
| url | https://www.mdpi.com/2076-3417/13/1/143 |
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