Design methodology and environment for robot diagnosis

I. Rudas, István Ori, Ákos Tóth

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The early diagnosis of abrupt and tendentious faults in industrial robots are in the scope of the paper. A complete design environment is outlined, which provides to choose fault detection technique, and contains isolation methods and a simulation environment. This enables the users to compare the performance of various fault detection methods, and to evaluate the performance of the diagnosis system in case of different faults. The design environment is built around a systematic design methodology, which includes the setting up and the development of the dynamic model of the robot manipulator, the generation of the stochastic system model and the identification of its noise inputs, the evaluation and the improvement of the filter convergence under normal operation. The performance of the designed diagnosis system can be verified by simulating mechanism and sensor faults.

Original languageEnglish
Title of host publicationISIE 1993 - Budapest
Subtitle of host publicationIEEE International Symposium on Industrial Electronics, Conference Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages367-372
Number of pages6
ISBN (Electronic)0780312279
DOIs
Publication statusPublished - Jan 1 1993
Event1993 IEEE International Symposium on Industrial Electronics, ISIE 1993 - Budapest, Hungary
Duration: Jun 1 1993Jun 3 1993

Publication series

NameIEEE International Symposium on Industrial Electronics

Conference

Conference1993 IEEE International Symposium on Industrial Electronics, ISIE 1993
CountryHungary
CityBudapest
Period6/1/936/3/93

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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    Rudas, I., Ori, I., & Tóth, Á. (1993). Design methodology and environment for robot diagnosis. In ISIE 1993 - Budapest: IEEE International Symposium on Industrial Electronics, Conference Proceedings (pp. 367-372). [268778] (IEEE International Symposium on Industrial Electronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.1993.268778