Dynamic sensor-based fault detection for robots

Monica L. Visinsky; Joseph R. Cavallaro; Ian David Walker

doi:10.1117/12.164918

21 December 1993 Dynamic sensor-based fault detection for robots

Monica L. Visinsky, Joseph R. Cavallaro, Ian David Walker

Proceedings Volume 2057, Telemanipulator Technology and Space Telerobotics; (1993) https://doi.org/10.1117/12.164918
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

Fault detection and fault tolerance are increasingly important for robots in space or hazardous environments due to the dangerous and often inaccessible nature of these environs. We have previously developed algorithms to enable robots to autonomously cope with failures of critical sensors and motors. Typically, the detection thresholds used in such algorithms to mask out model and sensor errors are empirically determined and are based on a specific robot trajectory. We have noted, however, that the effect of model and sensor inaccuracy fluctuates dynamically as the robot moves and as failures occur. The thresholds, therefore, need to be more dynamic and respond to the changes in the robot system so as to maintain an optimal bound for sensing real failures in the system versus misalignment due to modeling errors. In this paper, we analyze the reachable measurement intervals method of computing dynamic thresholds and explore its applicability to robotic fault detection.

Citation Download Citation

Monica L. Visinsky, Joseph R. Cavallaro, and Ian David Walker "Dynamic sensor-based fault detection for robots", Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); https://doi.org/10.1117/12.164918

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