Name
Title | ||
|---|---|---|
Two fault detection and isolation schemes for robot manipulators using soft computing techniques |
Abstract | ||
|---|---|---|
With growing technology, fault detection and isolation (FDI) have become one of the interesting and important research areas in modern control and signal processing. Accomplishment of specific missions like waste treatment in nuclear reactors or data collection in space and underwater missions make reliability more important for robotics and this demand forces researchers to adapt available FDI studies on nonlinear systems to robot manipulators, mobile robots and mobile manipulators. In this study, two model-based FDI schemes for robot manipulators using soft computing techniques, as an integrator of Neural Network (NN) and Fuzzy Logic (FL), are proposed. Both schemes use M-ANFIS for robot modelling. The first scheme isolates faults by passing residual signals through a neural network. The second scheme isolates faults by modelling faulty robot models for defined faults and combining these models as a generalized observers scheme (GOS) structure. Performances of these schemes are tested on a simulated two-link planar manipulator and simulation results and a comparison according to some important FDI specifications are presented. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1016/j.asoc.2009.06.011 | Appl. Soft Comput. |
Keywords | Field | DocType |
faulty robot model,neural networks,available fdi study,important fdi specification,m-anfis,robot modelling,soft computing technique,isolation scheme,fault detection and isolation,fault detection,robot manipulators,mobile robot,neural network,model-based fdi scheme,generalized observers scheme,robot manipulator,important research area,nuclear reactor,nonlinear system,waste treatment,soft computing,mobile manipulator,signal processing,data collection,fuzzy logic | Control theory,Integrator,Control engineering,Artificial intelligence,Soft computing,Artificial neural network,Robotics,Mathematical optimization,Fault detection and isolation,Fuzzy logic,Robot,Mathematics,Mobile robot | Journal |
Volume | Issue | ISSN |
10 | 1 | Applied Soft Computing Journal |
Citations | PageRank | References |
10 | 0.70 | 12 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Tolga Yüksel | 1 | 17 | 2.53 |
| Abdullah Sezgin | 2 | 10 | 0.70 |