Advances in robotics research

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FPGA-based ARX-Laguerre PIO fault diagnosis in robot manipulator

  • Piltan, Farzin (School of Electrical Engineering, University of Ulsan) ;
  • Kim, Jong-Myon (School of Electrical Engineering, University of Ulsan)
  • Received : 2018.01.25
  • Accepted : 2018.03.18
  • Published : 2018.03.25
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Abstract

The main contribution of this work is the design of a field programmable gate array (FPGA) based ARX-Laguerre proportional-integral observation (PIO) system for fault detection and identification (FDI) in a multi-input, multi-output (MIMO) nonlinear uncertain dynamical robot manipulators. An ARX-Laguerre method was used in this study to dynamic modeling the robot manipulator in the presence of uncertainty and disturbance. To address the challenges of robustness, fault detection, isolation, and estimation the proposed FPGA-based PI observer was applied to the ARX-Laguerre robot model. The effectiveness and accuracy of FPGA based ARX-Laguerre PIO was tested by first three degrees of the freedom PUMA robot manipulator, yielding 6.3%, 10.73%, and 4.23%, average performance improvement for three types of faults (e.g., actuator fault, sensor faults, and composite fault), respectively.

Keywords

Acknowledgement

Supported by : Korea Institute of Energy Technology Evaluation and Planning (KETEP), National Research Foundation of Korea (NRF)

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