Abstract
The paper presents a failure detection and isolation (FDI) method for validation of ultrasonic ranging sensor (URS) signals in robot position control systems. The technique builds upon the concepts of parity space and analytic redundancy where integration of analytic and sensor redundancy provides a direct, reliable method for measuring the end effector position of a robot relative to the world coordinates. These measurements are not influenced by deflections caused by the payload, accumulated joint measurement errors in a serial mechanism, and computational errors in executing kinematic relationships. The position control system's insensitivity to structural deflections will allow the robot to handle larger payloads.
Original language | English (US) |
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Pages | 557-564 |
Number of pages | 8 |
State | Published - Dec 1 1988 |
Event | Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics - Minneapolis, MN, USA Duration: Jul 18 1988 → Jul 20 1988 |
Other
Other | Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics |
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City | Minneapolis, MN, USA |
Period | 7/18/88 → 7/20/88 |
All Science Journal Classification (ASJC) codes
- General Engineering