Adaptive State Observer for Robot Manipulators Diagnostics and Health Degree Assessment
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 disturbanc...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-01-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/10/2/514 |
| _version_ | 1818150526838112256 |
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| author | Sanlei Dang Zhengmin Kong Long Peng Yilin Ji Yongwang Zhang |
| author_facet | Sanlei Dang Zhengmin Kong Long Peng Yilin Ji Yongwang Zhang |
| author_sort | Sanlei Dang |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-11T13:24:20Z |
| format | Article |
| id | doaj.art-c86ee392feeb4d91ae0f0d67be747b57 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-12-11T13:24:20Z |
| publishDate | 2020-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-c86ee392feeb4d91ae0f0d67be747b572022-12-22T01:05:39ZengMDPI AGApplied Sciences2076-34172020-01-0110251410.3390/app10020514app10020514Adaptive State Observer for Robot Manipulators Diagnostics and Health Degree AssessmentSanlei Dang0Zhengmin Kong1Long Peng2Yilin Ji3Yongwang Zhang4Metering Center of Guangdong Power Grid Co.Ltd., Guangzhou 510080, ChinaSchool of Electrical Engineering and Automation, Wuhan University, Wuhan 430072, ChinaMetering Center of Guangdong Power Grid Co.Ltd., Guangzhou 510080, ChinaMetering Center of Guangdong Power Grid Co.Ltd., Guangzhou 510080, ChinaMetering Center of Guangdong Power Grid Co.Ltd., Guangzhou 510080, ChinaTo 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.https://www.mdpi.com/2076-3417/10/2/514fault diagnosticshealth degree assessmentrobot manipulator systemadaptive observerequipment maintenance and management |
| spellingShingle | Sanlei Dang Zhengmin Kong Long Peng Yilin Ji Yongwang Zhang Adaptive State Observer for Robot Manipulators Diagnostics and Health Degree Assessment Applied Sciences fault diagnostics health degree assessment robot manipulator system adaptive observer equipment maintenance and management |
| title | Adaptive State Observer for Robot Manipulators Diagnostics and Health Degree Assessment |
| title_full | Adaptive State Observer for Robot Manipulators Diagnostics and Health Degree Assessment |
| title_fullStr | Adaptive State Observer for Robot Manipulators Diagnostics and Health Degree Assessment |
| title_full_unstemmed | Adaptive State Observer for Robot Manipulators Diagnostics and Health Degree Assessment |
| title_short | Adaptive State Observer for Robot Manipulators Diagnostics and Health Degree Assessment |
| title_sort | adaptive state observer for robot manipulators diagnostics and health degree assessment |
| topic | fault diagnostics health degree assessment robot manipulator system adaptive observer equipment maintenance and management |
| url | https://www.mdpi.com/2076-3417/10/2/514 |
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