Fault diagnosis of industrial robots

Abstract

This chapter describes firstly how analytical symptoms can be obtained by the estimation of physical defined parameters for the six axes of a multi-axis industrial robot. Then it is shown how the analytic symptom knowledge is added by heuristic symptoms observed by the maintenance personnel as described in Section 2.3 and Figure 2.7 and how a fault diagnosis can be performed with both the analytic and heuristic symptom information by using fuzzy-logic inferencing. As industrial robots (IR) are usually servo systems with point-to-point movements or trajectory following they have sufficient dynamic excitation and therefore parameter estimation can be preferably applied for fault detection.