This chapter describes how a suitable design of a fault diagnosis system can be successfully applied on industrial mobile robots for increasing their reliability and safety, improving their operability and maximize their performance for different tasks and different environments.Structural analysis is applied to the nonlinear model of an industrial mobile robot for residual generation. An adaptive/thresholding decision al- gorithm is described for developing the residual evaluation module. This includes a threshold test based on the minimum and maximum values of the generated residuals to decide if a fault has occurred or not. Moving thresholds are updated using a sliding window of a fixed number of sequential sample readings. With this solution, prob- ability density functions of residuals are unknown and do not need to be estimated. Experimental validation of the proposed scheme is performed on a differential drive industrial mobile robot, and it is presented in the last part of the chapter.

Model-based fault diagnosis for industrial mobile robots / Monteriu', Andrea; Longhi, Sauro. - STAMPA. - (2013).

Model-based fault diagnosis for industrial mobile robots

MONTERIU', Andrea;LONGHI, SAURO
2013-01-01

Abstract

This chapter describes how a suitable design of a fault diagnosis system can be successfully applied on industrial mobile robots for increasing their reliability and safety, improving their operability and maximize their performance for different tasks and different environments.Structural analysis is applied to the nonlinear model of an industrial mobile robot for residual generation. An adaptive/thresholding decision al- gorithm is described for developing the residual evaluation module. This includes a threshold test based on the minimum and maximum values of the generated residuals to decide if a fault has occurred or not. Moving thresholds are updated using a sliding window of a fixed number of sequential sample readings. With this solution, prob- ability density functions of residuals are unknown and do not need to be estimated. Experimental validation of the proposed scheme is performed on a differential drive industrial mobile robot, and it is presented in the last part of the chapter.
2013
Fault Detection: Classification, Techniques and Role in Industrial Systems
978-1-62808-999-8
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11566/128493
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus ND
  • ???jsp.display-item.citation.isi??? ND
social impact