Title: Fault Detection and Isolation for Manipulator Robot
Abstract: In robotics various factors must be take into account for task execution in the presence of a fault. Fault detection and isolation (FDI) are very important for systems in industrial applications. One of the popular approaches is model-based fault detection. In this works, a fault detection and isolation scheme is presented for class of affine nonlinear systems to detect sensor fault for a hyper redundant articulated nimble adaptable trunk (ANAT) robot for five-degree-of-freedom. Simulation results are provided to show the performance of the detection and isolation of the methods.
Publication Year: 2018
Publication Date: 2018-11-01
Language: en
Type: article
Indexed In: ['crossref']
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