Signal decomposition and fault diagnosis of a SCARA robot based only on tip acceleration measurement

A new online fault diagnosis method for a SCARA robot is presented in this paper. This approach is based on separating of the tip acceleration signal into program related acceleration (PRA) and transmission related acceleration (TRA). Unlike existing methods mounting varies sensors at every joints, the proposed technique applies only one accelerometer mounted at the tip of the robot. An advanced detrending algorithm has been developed to extract PRA and TRA signals from the measured acceleration signals. Based on dynamic analysis of the robot, the theoretical acceleration profile of the programmed motion is obtained, which is compared with the PRA signals measured during working. Typical FFT-based spectrum analysis is applied for analyzing the detrended TRA signal for fault diagnosis. The effectiveness of the proposed approach has been verified with experiments conducted on a 4DOFs SCARA manipulator.

[1]  Christiaan J. J. Paredis,et al.  Kinematic design of fault tolerant manipulators , 1992 .

[2]  Delbert Tesar,et al.  Architectures for fault-tolerant mechanical systems , 1994, Proceedings of MELECON '94. Mediterranean Electrotechnical Conference.

[3]  A. A. Maciejewski,et al.  Dexterity optimization of kinematically redundant manipulators in the presence of joint failures , 1994 .

[4]  Gaurav S. Sukhatme,et al.  Fault detection and identification in a mobile robot using multiple-model estimation , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[5]  Martin Soika,et al.  Grid based fault detection and calibration of sensors on mobile robots , 1997, Proceedings of International Conference on Robotics and Automation.

[6]  Béla Lantos,et al.  Advanced Robot Control , 2002 .

[7]  John T. Chladek,et al.  Fault-tolerant joint development for the Space Shuttle remote manipulator system: analysis and experiment , 1993, IEEE Trans. Robotics Autom..

[8]  Yung Ting,et al.  A control structure for fault-tolerant operation of robotic manipulators , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[9]  Ju-Jang Lee,et al.  Fault detection and robust fault recovery control for robot manipulators with actuator failures , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[10]  Anthony A. Maciejewski,et al.  Fault tolerance for kinematically redundant manipulators: anticipating free-swinging joint failures , 1998, IEEE Trans. Robotics Autom..

[11]  Joseph R. Cavallaro,et al.  Robotic fault detection and fault tolerance: A survey , 1994 .

[12]  Nilanjan Sarkar,et al.  Robust nonlinear analytic redundancy for fault detection and isolation in mobile robot , 2007, Int. J. Autom. Comput..