In this paper a fault diagnosis approach for sensor faults in cooperative robotic manipulators involved in interaction tasks is presented. The approach is developed for a two-arm cooperative workcell, although it can be easily applied to single-manipulator systems. A bank of discrete-time model-based diagnostic observers is adopted to detect, isolate and identify failures of both sensors at the joints of the manipulators and force/torque sensors mounted at the wrists. The effectiveness of the proposed scheme has been experimentally tested on a cooperative industrial setup composed by two six-dof COMAU Smart-3 S robots.

Sensor fault diagnosis for manipulators performing interaction tasks

CACCAVALE, Fabrizio;MARINO, ALESSANDRO;PIERRI, FRANCESCO
2010-01-01

Abstract

In this paper a fault diagnosis approach for sensor faults in cooperative robotic manipulators involved in interaction tasks is presented. The approach is developed for a two-arm cooperative workcell, although it can be easily applied to single-manipulator systems. A bank of discrete-time model-based diagnostic observers is adopted to detect, isolate and identify failures of both sensors at the joints of the manipulators and force/torque sensors mounted at the wrists. The effectiveness of the proposed scheme has been experimentally tested on a cooperative industrial setup composed by two six-dof COMAU Smart-3 S robots.
2010
9781424463909
File in questo prodotto:
File Dimensione Formato  
2121-bf-017167.pdf

solo utenti autorizzati

Tipologia: Documento in Post-print
Licenza: DRM non definito
Dimensione 610 kB
Formato Adobe PDF
610 kB Adobe PDF   Visualizza/Apri   Richiedi una copia

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/11563/21662
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 9
  • ???jsp.display-item.citation.isi??? 7
social impact