New Dynamic Model-Based Fault Detection Thresholds for Robot Manipulators

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dc.citation.conferenceDate1994en_US
dc.citation.conferenceNameIEEE International Conference on Robotics and Automationen_US
dc.citation.firstpage1388en_US
dc.citation.lastpage1395en_US
dc.citation.locationSan Diego, CAen_US
dc.contributor.authorVisinsky, Monica L.en_US
dc.contributor.authorWalker, Ian D.en_US
dc.contributor.authorCavallaro, Joseph R.en_US
dc.contributor.orgCenter for Multimedia Communicationen_US
dc.date.accessioned2012-05-25T19:17:33Zen_US
dc.date.available2012-05-25T19:17:33Zen_US
dc.date.issued1994-05-01en_US
dc.description.abstractAutonomous robotic fault detection is becoming increasingly important as robots are used in more inaccessible and hazardous environments. Detection algorithms, however, are adversely effected by the model simplification, parameter uncertainty, and computational inaccuracy inherent in robotic control, leading to an unacceptable number of false alarms and overzealous fault tolerance. The algorithms must use thresholds to mask out these errors. Typically, the thresholds are empirically determined from a specific robot trajectory. The effect of modeling inaccuracy, however, fluctuates dynamically as the robot moves and failures occur. The thresholds need to be dynamic and respond to the changes in the robot system so as to differentiate between real failures and misalignment due to modeling errors. This paper first summarizes the Reachable Measurement Intervals (RMI) method of computing dynamic thresholds and then, learning from the robot-oriented analysis of RMI, presents a more efficient threshold generation method using the manipulator dynamics property of linearity in parameters.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, I. D. Walker and J. R. Cavallaro, "New Dynamic Model-Based Fault Detection Thresholds for Robot Manipulators," 1994.en_US
dc.identifier.doihttp://dx.doi.org/10.1109/ROBOT.1994.351295en_US
dc.identifier.otherhttp://scholar.google.com/scholar?cluster=8742549452611084179&hl=en&as_sdt=0,44en_US
dc.identifier.urihttps://hdl.handle.net/1911/64182en_US
dc.language.isoengen_US
dc.publisherIEEE Computer Society Pressen_US
dc.subjectRobotic fault detectionen_US
dc.subjectReachable Measurement Intervals (RMI)en_US
dc.subjectDetection algorithmsen_US
dc.titleNew Dynamic Model-Based Fault Detection Thresholds for Robot Manipulatorsen_US
dc.typeConference paperen_US
dc.type.dcmiTexten_US
dc.type.dcmiTexten_US
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