Development of Accommodation System for Fault Caused by Change of Value of Coulomb Friction Coefficient in Electric Servo Actuators of Manipulation Robots

Abstract

The paper describes development of accommodation systems for faults caused by change of coefficient of coulomb friction value in electric servo actuators of manipulation robots. The proposed method develops diagnostic observers for detection and isolation of faults using logic-dynamic approach. A feature of this approach is the possibility of diagnosing systems even with nonsmooth nonlinearities using linear methods. For solving the task of fault values estimation, a feedback by residual signal was proposed to use in observers. The efficiency and operability of the proposed fault accommodation system was confirmed by mathematical modeling.