A time-delayed observer for fault detection and isolation in industrial robots
نویسندگان
چکیده
In this paper a discrete-time observer-based approach to Fault Detection and Isolation (FDI) for industrial robotic manipulators is presented and experimentally tested. In order to counteract the effects of unmodeled dynamics and disturbances, a time-delayed estimate of such effects is adopted. Remarkably, the observer is designed directly in the discrete-time domain. The performance of the proposed approach are experimentally verified on a six-degrees-offreedom industrial robot.
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ورودعنوان ژورنال:
- Robotica
دوره 24 شماره
صفحات -
تاریخ انتشار 2006