串联机械臂关节故障快速判定方法研究

Research on rapid determination method of joint fault of series manipulator

为快速判定故障类型和位置,建立串联机械臂数学模型,并采用反演控制器来控制机械臂的运动,分析常见故障类型并建立相应故障模型。考虑最为严重的执行器、传感器锁死故障(两种故障外在表现形式相同),利用反馈信息与机械臂模型建立残差观测器,利用速度残差量完成故障判定。建立仿真平台并在正常运动的机械臂中加入故障信号进行仿真验证,实验结果表明:提出的方法可在两个控制周期内判断出机械臂关节的故障类型和位置。

To determine fault type and location quickly,mathematical model for serial manipulator is established and the motion is controlled by backstepping controller. Common fault types are analyzed and corresponding fault models are built. Considering the most serious status： actuator and sensor locking failure（ the two faults have the same external manifestations）,residual observer is established by using feedback information and robotic arm model. The failure is determined by velocity residuals. The simulation platform is established by adding fault signal to normal condition. The experimental result shows that the method can identify the fault type and position of manipulator joints in two control periods.