Fault diagnosis of a selective compliance assembly robot arm manipulator based on the end joint motion analysis: Threshold algorithm and experiments

2017 ◽  
Vol 40 (5) ◽  
pp. 1691-1700 ◽  
Author(s):  
Fengyu Xu ◽  
Zhong Yang ◽  
JinLong Hu ◽  
Guoping Jiang ◽  
GuoHong Dai
Keyword(s):  
Fault Diagnosis ◽  
Motion Analysis ◽  
Joint Motion ◽  
Robot Arm ◽  
Acceleration Sensor ◽  
Threshold Algorithm ◽  
System Output ◽  
Parameter Separation ◽  
Acceleration Signals ◽  
Threshold Range

This paper presented a method to carry out fault diagnosis via analyzing the motion signals of a SCARA. To analyze the motion signals of the end joint of a selective compliance assembly robot arm (SCARA) and carry out fault diagnosis. A model parameter-based threshold algorithm is proposed in this study to improve the efficiency of the fault diagnosis on the end joint of a SCARA manipulator. The operation state of the robot is determined by comparing the speed curve of the end joint of the robot with the threshold using the proposed algorithm. Firstly, the threshold range of the system output is estimated using the speed observer constructed via parameter separation. Secondly, the acceleration signals of the end joint of the robot are collected at various operational angular speeds by a single acceleration sensor installed at the end joint of the manipulator. The operation state of the robot is evaluated by analyzing the trend and vibration characteristics of its acceleration. Finally, experiments are conducted at three different speeds: 2.4rad/s, 3.12rad/s and 3.6rad/s. Some robot malfunctions are detected by comparing the actual speed with the threshold. Thus, the proposed method can be used to monitor the variation signal in each robot joint through a single accelerometer mounted on the top of the manipulator.

Shoulder Joint Motion Analysis of Daily Living Activities Using a Global Coordinate System

2013 ◽  
Vol 50 (10) ◽  
pp. 840-844
Author(s):  
Yukiya INOUE ◽  
Mayumi KIHARA ◽  
Junko YOSHIMURA ◽  
Naoki YOSHIDA ◽  
Kenji MATSUMOTO ◽  
...  
Keyword(s):  
Coordinate System ◽  
Motion Analysis ◽  
Shoulder Joint ◽  
Daily Living ◽  
Global Coordinate System ◽  
Joint Motion ◽  
Daily Living Activities

3D/2D image registration method for joint motion analysis using low-quality images from mini C-arm machines

2017 ◽  
Author(s):  
Soheil Ghafurian ◽  
Ilker Hacihaliloglu ◽  
Dimitris N. Metaxas ◽  
Virak Tan ◽  
Kang Li
Keyword(s):  
Image Registration ◽  
Motion Analysis ◽  
Joint Motion ◽  
Registration Method

Development of an in-vivo method of wrist joint motion analysis

2005 ◽  
Vol 20 (2) ◽  
pp. 166-171 ◽  
Author(s):  
L. Leonard ◽  
D. Sirkett ◽  
G. Mullineux ◽  
G.E.B Giddins ◽  
A.W. Miles
Keyword(s):  
Motion Analysis ◽  
Wrist Joint ◽  
Joint Motion

Computer Aided Synthesis of Piecewise Rational Motions for Spherical 2R and 3R Robot Arms

2006 ◽  
Author(s):  
Anurag Purwar ◽  
Zhe Jin ◽  
Q. J. Ge
Keyword(s):  
Spline Interpolation ◽  
Joint Motion ◽  
Robot Arm ◽  
Spherical Robot ◽  
End Effector ◽  
Kinematic Constraints ◽  
Robot Arms ◽  
Revolute Joints ◽  
Computer Aided ◽  
Circular Interpolation

This paper deals with the problem of synthesizing piecewise rational spherical motions of an object that satisfies the kinematic constraints imposed by a spherical robot arm with revolute joints. The paper brings together the kinematics of spherical robot arms and the recently developed freeform rational motions to study the problem of synthesizing constrained rational motions for Cartesian motion planning. Using quaternion kinematics of spherical arms, it is shown that the problem of synthesizing the Cartesian rational motion of a 2R arm can be reduced to that of circular interpolation in two separate planes. Furthermore, the problem of synthesizing the Cartesian rational motion of a spherical 3R arm can be reduced to that of constrained spline interpolation in two separate planes. Due to the limitation of circular interpolation, for spherical 2R robot arm, only C1 continuous rational motions are generated. In this case, for applications that require C2 continuous motions, the paper presents a method for generating a C2 continuous joint motion that approximates a given C1 rational motion of the end-effector. For spherical 3R arm, C2 continuous rational motions are generated exactly.

Extended kinematic path control of robot arms

Robotica ◽  
1987 ◽  
Vol 5 (1) ◽  
pp. 45-53 ◽  
Author(s):  
Evgeny Krustev ◽  
Ljubomir Lilov
Keyword(s):  
Path Planning ◽  
Control Method ◽  
Sliding Mode ◽  
Joint Motion ◽  
Robot Arm ◽  
Extended Form ◽  
Robot Arms ◽  
Path Control ◽  
Arm Motion

SUMMARYPath planning a robot arm motion essentially requires that the constraints of the joint variables and the vector of the joint motion rates are taken into account. In order to satisfy the constraints of the joint variables a sliding mode is being employed together with the developed kinematic path control method. The extended form of the kinematic path control method, here proposed, treats simultaneously the constraints of the joint variables and the vector of joint motion rates in path planning a robot arm motion.

Force and Motion Control of a Constrained Flexible Robot Arm

1994 ◽  
Vol 116 (3) ◽  
pp. 336-343 ◽  
Author(s):  
F. L. Hu ◽  
A. G. Ulsoy
Keyword(s):  
Vibration Control ◽  
Motion Control ◽  
Force Control ◽  
Experimental Studies ◽  
Joint Motion ◽  
Robot Arm ◽  
Flexible Robot ◽  
Force And Motion ◽  
Regulation And Tracking

The results of a study on the combined joint motion control, vibration control, and force control of a constrained rigid-flexible robot arm for both regulation and tracking are presented. A nonlinear modified Corless-Leitmann controller is proposed for control of the flexible motion using only joint actuators. Experimental studies, which demonstrate the effectiveness of the proposed method, are described.

Screw theory and its applications to joint motion analysis

1985 ◽  
Vol 18 (7) ◽  
pp. 531
Author(s):  
Steven Peterson ◽  
Arthur Erdman
Keyword(s):  
Motion Analysis ◽  
Screw Theory ◽  
Joint Motion
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