CNN과 진동데이터를 활용한 산업용 로봇의 고장 진단

Fault Diagnosis of Industrial Robots using CNN and Vibration Data

Products were typically produced using specialized equipment such as CNC machines, milling machines, and lathes in traditional manufacturing. However, modern manufacturing is increasingly attempting with technological advancements to leverage large industrial robots for machining, offering greater flexibility, efficiency, and a high degree of freedom throughout the entire production process. Additionally, the demand for industrial robots continues to rise as industries adopt smart factories. These robots are becoming larger, more precise, and faster, as they take over tasks previously requiring specialized equipment or skilled human operators. Where numerous robots are in operation in factories, ensuring a stable supply chain and maintaining operational uptime is crucial. Therefore, preparing for potential mechanical failures in each robot is necessary, and there is a growing need for technologies that enable real-time fault diagnosis and predictive maintenance. A large industrial robot used for machining was employed as a testbed for fault diagnosis in this study. The Vibration data was collected from various robot axes under both normal operating conditions and abnormal conditions, such as end-effector overloads and drive malfunctions. The collected vibration data was then preprocessed, and key features were analyzed and extracted. The extracted features were used to build a learning model, and in this study, the CNN (Convolutional Neural Network) algorithm was applied instead of k-NN (k-Nearest Neighbors) to diagnose defects occurring in the discontinuous movements of the robot, thereby improving accuracy.