A method of a defect estimation for a mechanical system in an actuator and link in a rigid manipulator using control theory

Rai Wung Park

doi:10.1117/12.664577

2 May 2006 A method of a defect estimation for a mechanical system in an actuator and link in a rigid manipulator using control theory

Rai Wung Park

Author Affiliations +

Proceedings Volume 6042, ICMIT 2005: Control Systems and Robotics; 60420U (2006) https://doi.org/10.1117/12.664577
Event: ICMIT 2005: Merchatronics, MEMS, and Smart Materials, 2005, Chongqing, China

Abstract

The aim of this work is to present an advanced method of estimation of the system defects coming up in robot links and actuators. Considering a fictitious model, a new extended system equation is set up. Based on this extended model an observer is designed for the detection of faults and an observer bank is proposed of faults.

Citation Download Citation

Rai Wung Park "A method of a defect estimation for a mechanical system in an actuator and link in a rigid manipulator using control theory", Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60420U (2 May 2006); https://doi.org/10.1117/12.664577

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