제어로봇시스템학회:학술대회논문집
- 1997.10a
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- Pages.1489-1492
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- 1997
Fault detection and identification for a robot used in intelligent manufacturing
IMS용 로봇에서의 FDI기법 연구
Abstract
To increase reliability and performance of an IMS(Intelligent Manufacturing System), fault tolerant control based on an accurate fault diagnosis is needed. In this paper, robot FDI(fault detection and identification) is proposed for IMS where the robot is controlled with state estimates of a nonlinear filter using a mathematical robot model. The Chi-square distribution is applied fault detection and fault size is estimated by a proposed bias filter. Performance of the proposed algorithm is tested by simulation for studies.