Sensor fault diagnosis for manipulators performing interaction tasks

Sensor fault diagnosis for manipulators performing interaction tasks. Caccavale, F., Marino, A., & Pierri, F. In IEEE International Symposium on Industrial Electronics, 2010.
doi abstract bibtex

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 IEEE.

@inproceedings{Caccavale2010,
  author = {Caccavale, Fabrizio and Marino, Alessandro and Pierri, Francesco},
  title = {Sensor fault diagnosis for manipulators performing interaction tasks},
  booktitle = {IEEE International Symposium on Industrial Electronics},
  doi = {10.1109/ISIE.2010.5637775},
  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 IEEE.},
  year = {2010},
}

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