A fault detection and isolation system for cooperative manipulators
نویسندگان
چکیده
منابع مشابه
A Fault Detection and Isolation System for Cooperative Manipulators
The problem of fault detection and isolation (FDI) in cooperative manipulators is addressed in this paper. Four FDI procedures are developed to deal with free-swinging joint faults, locked joint faults, incorrectly measured joint position, and incorrectly measured joint velocity. Free-swinging and locked joint faults are isolated via neural networks. For each arm, a Multilayer Perceptron (MLP) ...
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The problem of fault detection and isolation (FDI) in cooperative manipulators is addressed here. Four faults are considered: free-swinging joint faults, locked joint faults, incorrect measured joint position, and incorrect measured joint velocity. Free-swinging and locked joint faults are isolated via neural networks. For each arm, a Multilayer Perceptron (MLP) is used to reproduce the dynamic...
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The problem of fault detection and isolation (FDI) in cooperative manipulators is addressed. Free-swinging and locked joint faults are detected and isolated by an FDI system based on neural networks. For each arm, a Multilayer Perceptron (MLP) is used to reproduce the dynamics of the fault-free robot. The outputs of each MLP are compared to the real joint velocities in order to generate a resid...
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ژورنال
عنوان ژورنال: Sba: Controle & Automação Sociedade Brasileira de Automatica
سال: 2008
ISSN: 0103-1759
DOI: 10.1590/s0103-17592008000400004