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dc.contributor.authorVisinsky, Monica L.
Walker, Ian D.
Cavallaro, Joseph R. 2012-05-25T19:17:33Z 2012-05-25T19:17:33Z 1994-05-01
dc.identifier.citation M. L. Visinsky, I. D. Walker and J. R. Cavallaro, "New Dynamic Model-Based Fault Detection Thresholds for Robot Manipulators," 1994.
dc.description.abstract Autonomous robotic fault detection is becoming increasingly important as robots are used in more inaccessible and hazardous environments. Detection algorithms, however, are adversely effected by the model simplification, parameter uncertainty, and computational inaccuracy inherent in robotic control, leading to an unacceptable number of false alarms and overzealous fault tolerance. The algorithms must use thresholds to mask out these errors. Typically, the thresholds are empirically determined from a specific robot trajectory. The effect of modeling inaccuracy, however, fluctuates dynamically as the robot moves and failures occur. The thresholds need to be dynamic and respond to the changes in the robot system so as to differentiate between real failures and misalignment due to modeling errors. This paper first summarizes the Reachable Measurement Intervals (RMI) method of computing dynamic thresholds and then, learning from the robot-oriented analysis of RMI, presents a more efficient threshold generation method using the manipulator dynamics property of linearity in parameters.
dc.description.sponsorship National Science Foundation
dc.description.sponsorship Sandia National Laboratory
dc.description.sponsorship Mitre Corporation Graduate Fellowship
dc.description.sponsorship NSF Graduate Fellowship
dc.language.iso eng
dc.publisher IEEE Computer Society Press
dc.subjectRobotic fault detection
Reachable Measurement Intervals (RMI)
Detection algorithms
dc.title New Dynamic Model-Based Fault Detection Thresholds for Robot Manipulators
dc.type Conference paper Center for Multimedia Communication
dc.citation.location San Diego, CA
dc.citation.conferenceName IEEE International Conference on Robotics and Automation
dc.citation.conferenceDate 1994
dc.type.dcmi Text
dc.type.dcmi Text
dc.citation.firstpage 1388
dc.citation.lastpage 1395

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  • ECE Publications [1397]
    Publications by Rice University Electrical and Computer Engineering faculty and graduate students
  • Rice Wireless [268]
    Publications by Rice Faculty and graduate students in the Rice Wireless group

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