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题名: A combined logistic and model based approach for fault detection and identification in a climbing robot
作者: Jiang Y(姜勇) ; Wang HG(王洪光) ; Fang LJ(房立金) ; Zhao MY(赵明扬)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Robotics and Biomimetics (ROBIO 2006)
会议日期: December 17-20, 2006
会议地点: Kunming, China
会议主办者: IEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ
会议录: 2006 IEEE International Conference on Robotics and Biomimetics, Vols 1-3
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2006
页码: 1512-1516
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-0570-1
关键词: fault detection and identification ; fault tree ; MMAE ; logic reasoning ; climbing robot
摘要: This paper presents a combined logistic and model based approach for fault detection and identification (FDI) in the suction foot control of a climbing robot. For this control system, some fault models are easily given by kinematics equations. Moreover, the logic relations of the system states have been known in advance. Based on the combination of the logic reasoning and the model based estimation, the novel approach is properly fit for the FDI application to the climbing robot. First a fault tree (FT) constructed from the target system is used in robot safety analysis by evaluating the basic events (elementary causes) which can lead to a root event (a particular fault). Then, the multiple-model adaptive estimation (MMAE) algorithm is used to reliably detect and identify the model-known faults. Finally, based on the system states of the robot and the results of the MMAE, other faults are detected and identified using the logic reasoning. Experimental results validated that the faults of the sensors and actuators in the suction foot control of the robot can be readily detected and identified by this approach.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8468
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
姜勇; 王洪光; 房立金; 赵明扬 .A combined logistic and model based approach for fault detection and identification in a climbing robot.见:IEEE .2006 IEEE International Conference on Robotics and Biomimetics, Vols 1-3,NEW YORK,2006,1512-1516
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