Adaptive Fault Detection and Tolerance for Robots

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dc.citation.conferenceDate1994en_US
dc.citation.conferenceNameFirst World Automation Conferenceen_US
dc.citation.firstpage205en_US
dc.citation.lastpage210en_US
dc.citation.locationWailea, HIen_US
dc.contributor.authorVisinsky, Monica L.en_US
dc.contributor.authorCavallaro, Joseph R.en_US
dc.contributor.authorWalker, Ian D.en_US
dc.contributor.orgCenter for Multimedia Communicationen_US
dc.date.accessioned2012-05-18T16:35:00Zen_US
dc.date.available2012-05-18T16:35:00Zen_US
dc.date.issued1994-08-01en_US
dc.description.abstractIn existing robot fault detection schemes, sensed values of the joint status (position, velocity, etc.) are typically compared against expected or desired values, and if a given threshold is exceeded, a fault is inferred. The thresholds tend to be empirically determined and held constant over a wide range of trajectories. This leads to false alarms when the threshold is too small to counter the error-inducing effects model inaccuracy and to undetected faults when the threshold is too large for the given situation. This paper presents new methods for adaptively choosing fault detection thresholds, subject to sensing and modeling inaccuracies and the changing status of the robot. Our approach chooses optimal thresholds based on a Singular Value Decomposition (SVD) of a specialized error regressor format of the dynamics to minimize the possibility of false alarms or undtected failures. The thresholds vary dynamically with the changing trajectory and configuration of the robot and with the robot's failure status. Examples of the fault detection scheme for a non-planar 3 DOF robot are given.en_US
dc.description.sponsorshipNational Science Foundationen_US
dc.description.sponsorshipSandia National Laboratoryen_US
dc.description.sponsorshipMitre Corporation Graduate Fellowshipen_US
dc.description.sponsorshipNSF Graduate Fellowshipen_US
dc.identifier.citationM. L. Visinsky, J. R. Cavallaro and I. D. Walker, "Adaptive Fault Detection and Tolerance for Robots," 1994.en_US
dc.identifier.otherhttp://www.mendeley.com/research/adaptive-fault-detection-tolerance-robots/en_US
dc.identifier.urihttps://hdl.handle.net/1911/64159en_US
dc.language.isoengen_US
dc.publisherTSI Pressen_US
dc.subjectFault Detectionen_US
dc.subjectFault Detection Thresholdsen_US
dc.subjectSingular Value Decomposition (SVD)en_US
dc.titleAdaptive Fault Detection and Tolerance for Robotsen_US
dc.typeConference paperen_US
dc.type.dcmiTexten_US
dc.type.dcmiTexten_US
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