| Autor: |
Sanlei Dang, Zhengmin Kong, Long Peng, Yilin Ji, Yongwang Zhang |
| Jazyk: |
angličtina |
| Rok vydání: |
2020 |
| Předmět: |
|
| Zdroj: |
Applied Sciences, Vol 10, Iss 2, p 514 (2020) |
| Druh dokumentu: |
article |
| ISSN: |
2076-3417 |
| DOI: |
10.3390/app10020514 |
| Popis: |
To avoid serious damages caused by the dynamic environment, fault detection and health assessment are essential for an integrated robotic system. In this paper, we propose a fault detection algorithm and a health degree assessment approach for a robot manipulator system. Both the internal disturbance and the output measurement disturbance are considered in the proposed method. In addition, an adaptive observer is utilized to reconstruct the real system of robot manipulators. Under the proposed observer, the real system is estimated to detect the fault and obtain the health degree of the robot manipulator. The feasibility and reliability of the proposed fault detection algorithm and health degree assessment index for robot manipulator systems are proved by simulation experiments. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
|
