Slantlet transform used for faults diagnosis in robot arm

Abstract

The robot arm systems are the most target systems in the fields of faults detection and diagnosis which are electrical and the mechanical systems in many fields. Fault detection and diagnosis study is presented for two robot arms. The disturbance due to the faults at robot's joints causes oscillations at the tip of the robot arm. The acceleration in multi-direction is analysed to extract the features of the faults. Simulations for planar and space robots are presented. Two types of feature (faults) detection methods are used in this paper. The first one is the discrete wavelet transform, which is applied in many research's works before. The second type, is the Slantlet transform, which represents an improved model of the discrete wavelet transform. The multi-layer perceptron artificial neural network is used for the purpose of faults allocation and classification. According to the obtained results, the Slantlet transform with the multi-layer perceptron artificial neural network appear to possess best performance (4.7088e-05), lower consuming time (71.017308 sec) and higher accuracy (100%) than the results obtained when applying discrete wavelet transform and artificial neural network for the same purpose.