期刊
MECHATRONICS
卷 19, 期 5, 页码 695-704出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechatronics.2009.02.005
关键词
Fault Detection and Isolation (FDI); Industrial robot; Dynamic modeling; Co-simulation; Bond graph
This paper deals with a model based real-time virtual simulator of industrial robot in order to detect eventual external collision. The implemented method concerns a model based Fault Detection and Isolation used to determine any lock of motion from an actuated robot joint after contact with static obstacles. Online implementation has been done in order to validate the proposed approach. (C) 2009 Elsevier Ltd. All rights reserved.
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