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    Adaptive Fault Detection and Tolerance for Robots

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    Author
    Visinsky, Monica L.; Cavallaro, Joseph R.; Walker, Ian D.
    Date
    1994-08-01
    Abstract
    In existing robot fault detection schemes, sensed values of the joint status (position, velocity, etc.) are typically compared against expected or desired values, and if a given threshold is exceeded, a fault is inferred. The thresholds tend to be empirically determined and held constant over a wide range of trajectories. This leads to false alarms when the threshold is too small to counter the error-inducing effects model inaccuracy and to undetected faults when the threshold is too large for the given situation. This paper presents new methods for adaptively choosing fault detection thresholds, subject to sensing and modeling inaccuracies and the changing status of the robot. Our approach chooses optimal thresholds based on a Singular Value Decomposition (SVD) of a specialized error regressor format of the dynamics to minimize the possibility of false alarms or undtected failures. The thresholds vary dynamically with the changing trajectory and configuration of the robot and with the robot's failure status. Examples of the fault detection scheme for a non-planar 3 DOF robot are given.
    Citation
    M. L. Visinsky, J. R. Cavallaro and I. D. Walker, "Adaptive Fault Detection and Tolerance for Robots," 1994.
    Keyword
    Fault Detection; Fault Detection Thresholds; Singular Value Decomposition (SVD)
    Type
    Conference paper
    Publisher
    TSI Press
    Citable link to this page
    https://hdl.handle.net/1911/64159
    Metadata
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    • ECE Publications [1468]
    • Rice Wireless [268]

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    Home | FAQ | Contact Us | Privacy Notice | Accessibility Statement
    Managed by the Digital Scholarship Services at Fondren Library, Rice University
    Physical Address: 6100 Main Street, Houston, Texas 77005
    Mailing Address: MS-44, P.O.BOX 1892, Houston, Texas 77251-1892
    Site Map