Unified control and performance monitoring system for robot manipulators

I. Rudas, Istvan Ori, Janos F. Bito, J. Tar

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

1 Citation (Scopus)

Abstract

A novel, unified control and performance monitoring system concept is considered in this paper. The control algorithm basicly is an extended computed torque control method. The input torques necessary to drive the robot manipulator are on-line computed as a function of the unbiased, minimum variance estimates of the joint coordinates and velocities, and the corrected accelerations. The state estimator is given by the discrete Kalman filter. The early diagnosis of abrupt and tendentious faults are addressed by the performance monitoring part of the system. The performance monitoring scheme involves also the use of a Kalman filter. The innovation sequence which is generated by the filter is monitored in order to determine the presence of failures. The problem of fault detection and isolation is formulated as a problem in Hypothesis Testing by regarding the normal operation of the robot manipulator as the null hypothesis. The isolation method involves the use of analysis of variance.

Original languageEnglish
Title of host publicationProc 92 Jpn USA Symp Flexible Autom
PublisherPubl by ASME
Pages579-583
Number of pages5
Publication statusPublished - 1992
EventProceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2) - San Francisco, CA, USA
Duration: Jul 13 1992Jul 15 1992

Other

OtherProceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2)
CitySan Francisco, CA, USA
Period7/13/927/15/92

Fingerprint

Manipulators
Robots
Kalman filters
Monitoring
Torque control
Analysis of variance (ANOVA)
Fault detection
Torque
Innovation
Testing

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Rudas, I., Ori, I., Bito, J. F., & Tar, J. (1992). Unified control and performance monitoring system for robot manipulators. In Proc 92 Jpn USA Symp Flexible Autom (pp. 579-583). Publ by ASME.

Unified control and performance monitoring system for robot manipulators. / Rudas, I.; Ori, Istvan; Bito, Janos F.; Tar, J.

Proc 92 Jpn USA Symp Flexible Autom. Publ by ASME, 1992. p. 579-583.

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

Rudas, I, Ori, I, Bito, JF & Tar, J 1992, Unified control and performance monitoring system for robot manipulators. in Proc 92 Jpn USA Symp Flexible Autom. Publ by ASME, pp. 579-583, Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2), San Francisco, CA, USA, 7/13/92.
Rudas I, Ori I, Bito JF, Tar J. Unified control and performance monitoring system for robot manipulators. In Proc 92 Jpn USA Symp Flexible Autom. Publ by ASME. 1992. p. 579-583
Rudas, I. ; Ori, Istvan ; Bito, Janos F. ; Tar, J. / Unified control and performance monitoring system for robot manipulators. Proc 92 Jpn USA Symp Flexible Autom. Publ by ASME, 1992. pp. 579-583
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