Qualitative modelling of kinematic robots for fault diagnosis

  • Liu H
  • Coghill G
  • Xu H
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Abstract

This study presents an approach, the unit circle (UC), to qualitative
representation of robots. A robot is described as a collection of
constraints holding among time-varying, interval-valued parameters.
The UC representation is presented, and the continuous motion of
the end-effector is evaluated by the change of directions of qualitative
angle and qualitative length. Analytical formulas of qualitative
velocity and qualitative acceleration are derived. The characteristic
mapping is introduced for fault detection and diagnosis in terms
of the UC. In the end, simulation results demonstrate the feasibility
of the UC approach in the domain of robotic fault diagnosis, where
a fault is defined as a deviation from expected behavior. The UC
representation of robots concerns a global assessment of the systems
behaviour, and it might be used for the purpose of monitoring, diagnosis,
and explanation of physical systems. This is the first step to fault
diagnosis and remediation for Beagle 2 using qualitative methods.

Author-supplied keywords

  • Fault diagnosis
  • Qualitative modeling
  • Robotics

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