<abstract xml:lang="en" xmlns="http://www.w3.org/1999/xhtml"><p>Faults in an industrial process could be timely detected and diagnosed in many cases. It is possible to subsequently reconfigure the control system so that it can safely continue its operation (possibly with degraded performance) until the time comes when it can be switched off for maintenance. In order to minimize the chances for drastic events such as a complete failure, safety-critical systems must possess the properties of increased reliability and safety. Faults in robotic systems are inevitable. They have diverse characteristics, magnitudes and origins, from the familiar viscous friction to Coulomb/Sticktion friction, and from structural vibrations. This paper presents an on-line environmental fault detection, isolation and an accommodation scheme.</p></abstract>

Faults in an industrial process could be timely detected and diagnosed in many cases. It is possible to subsequently reconfigure the control system so that it can safely continue its operation (possibly with degraded performance) until the time comes when it can be switched off for maintenance. In order to minimize the chances for drastic events such as a complete failure, safety-critical systems must possess the properties of increased reliability and safety. Faults in robotic systems are inevitable. They have diverse characteristics, magnitudes and origins, from the familiar viscous friction to Coulomb/Sticktion friction, and from structural vibrations. This paper presents an on-line environmental fault detection, isolation and an accommodation scheme.

Reconfigurable Control for a Scara Robot Using RBF Networks

Advanced Electronics Laboratory (LEA), University of Batna, Chahid Boukhlouf Road, 05000, Algeria

Journal of Electrical Engineering

{"article-title":"Reconfigurable Control for a Scara Robot Using RBF Networks"}

Faults in an industrial process could be timely detected and diagnosed in many cases. It is possible to subsequently reconfigure the control system so that it...

Reconfigurable Control for a Scara Robot Using RBF Networks

Published Online: Jun 07, 2011

Page range: 100 - 106

DOI: https://doi.org/10.2478/v10187-010-0014-7

Keywords
fault diagnosis, robotics, scara robot arm, fault isolation, fault tolerant control

This content is open access.

Reconfigurable Control for a Scara Robot Using RBF Networks

Published Online: Jun 07, 2011

Page range: 100 - 106

DOI: https://doi.org/10.2478/v10187-010-0014-7

Keywordsfault diagnosis, robotics, scara robot arm, fault isolation, fault tolerant control

This content is open access.

Keywords
fault diagnosis, robotics, scara robot arm, fault isolation, fault tolerant control