Nonlinear Observer-based fault detection and isolation for a manipulator robot

Abstract

Fault Detection and Isolation (FDI) techniques in robot manipulator is becoming one of the most phenomena in robotics in order to ensure higher levels of safety and productivity. Research, has been produced a considerable effort in seeking systematic approaches to fault detection for both linear and nonlinear dynamical systems. In the last decade considerable research efforts have been spent to seek for systematic approaches to Fault Detection (FD) in dynamical systems. Special attention has been addressing for robotic systems, especially for those operating in remote or hazardous environments, where a high degree of safety as well as self-detection capabilities are required. On the other hand, the development of effective strategies of fault detection for robot manipulators operating in an industrial context is a critical research task. Several FD techniques for robot manipulators have been proposed in the literature, although the problem of their application to industrial robots has not been extensively investigated. In this chapter, we present a high-gain observer based fault detection and isolation scheme for a class of affine nonlinear systems. In order to test the effectiveness and the robustess of the proposed approach, a case study is developed for a special robot manipulator named Articulated Nimble Adaptable Trunk “ANAT” with a five-degree-of-freedom in order to detected and isolated sensor fault.