Robotic Fault Detection using Nonlinear Analytical Redundancy
نویسندگان
چکیده
In this paper we discuss the application of our recently developed nonlinear analytical redundancy (NLAR) fault detection technique to a two-degree of freedom robot manipulator. NLAR extends the traditional linear AR technique to derive the maximum possible number of fault detection tests into the continuous nonlinear domain. The ability to handle nonlinear systems vastly expands the accuracy and viable applications of the AR technique. The effectiveness of the approach is demonstrated through an example.
منابع مشابه
Nonlinear Analytical Redundancy for Robotic Fault Detection
In this paper we discuss the application of our recently de-veloped nonlinear analytical redundancy (NLAR) fault detection techniqueto a two-degree of freedom robot manipulator. NLAR extends the tradi-tional linear AR technique to derive the maximum possible number of in-dependent model-based fault detection tests into the continuous nonlineardomain. The ability to handle no...
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