@conference{
	11580_71256,
	author = {Caccavale, F. and Marino, A. and Pierri, F.},
	title = {Sensor fault diagnosis for manipulators performing interaction tasks},
	year = {2010},
	publisher = {IEEE},
	booktitle = {IEEE International Symposium on  Industrial Electronics (ISIE), 2010},
	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.},
	keywords = {discrete time systems, failure analysis, fault diagnosis, force control, force sensors, industrial robots, manipulators, multi-robot systems, observers, torque control},
	url = {http://ieeexplore.ieee.org/abstract/document/5637775/},
	doi = {10.1109/ISIE.2010.5637775},
	isbn = {978-142446391-6},	
	pages = {2121--2126}
}

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