Algebraic detection and identification of parameter faults for robots

Lomakin A, Deutscher J (2021)

Publication Type: Journal article

Publication year: 2021

Journal

At-Automatisierungstechnik Oldenbourg Verlag

Book Volume: 69

Pages Range: 645-655

Journal Issue: 8

DOI: 10.1515/auto-2021-0045

Abstract

In this paper, a new algebraic method for the detection and identification of parameter faults for robots is presented. The proposed approach is independent of occurring disturbances and additionally allows to determine the detectable faults. The method is based on the reconstruction of the residual as a nonlinear differential algebraic expression using polynomial approximation. This results in an approach for fault detection, identification and analysis, which can be efficiently realized with FIR filters using solely measurable signals. The presented method is applied to a SCARA robot and validated by simulation.

Authors with CRIS profile

Alexander Lomakin Chair of Automatic Control

Involved external institutions

Universität Ulm DE Germany (DE)

How to cite

APA:

Lomakin, A., & Deutscher, J. (2021). Algebraic detection and identification of parameter faults for robots. At-Automatisierungstechnik, 69(8), 645-655. https://dx.doi.org/10.1515/auto-2021-0045

MLA:

Lomakin, Alexander, and Joachim Deutscher. "Algebraic detection and identification of parameter faults for robots." At-Automatisierungstechnik 69.8 (2021): 645-655.

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