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Selvaraj, T.
- An Adaptive Fuzzy Logic Approach for Fault Detection in Robot Manipulators with Parametric Uncertainty
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1 Dept of Production Engg., National Institute of Technology, Tiruchirappalli, IN
1 Dept of Production Engg., National Institute of Technology, Tiruchirappalli, IN
Source
Manufacturing Technology Today, Vol 7, No 2 (2008), Pagination: 15-23Abstract
A high degree of automation in flexible production units demands powerful tools for supervision and fault detection. This paper outlines recent advances on the theory of model-based fault diagnosis in dynamic systems. Robot manipulator fault detection and diagnosis involves processing of huge information about the robot system. A fuzzy logic based threshold for residual evaluation is suggested here. The proposed fuzzy logic control scheme has been applied to trajectory control of a five-degree of freedom robot manipulator. The proposed method is capable to address unstructured and unknown disturbances. Simulated results are presented in terms of fault detection accuracy and knowledge extraction feasibility.- Adaptive Genetic Algorithm Approach for Optimization of Multi Pass Turning Operations
Abstract Views :192 |
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Authors
Affiliations
1 Department of Production Engineering, National Institute of Technology, Tiruchirappalli, Tamilnadu - 620 015, IN
1 Department of Production Engineering, National Institute of Technology, Tiruchirappalli, Tamilnadu - 620 015, IN