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Fault Detection and Correction in Omni Bundle Robot Using EKF

  • Rohit RanaEmail author
  • Vijyant Agarwal
  • Prerna Gaur
  • Harish Parthasarathy
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 553)

Abstract

In this paper, the entire focus is on fault detection and correction using extended Kalman filter (EKF) on industrially used omni bundle robot. Here, the authors considered a problem where a robot does monotonous job and repetitively traverse the same trajectory every time. Due to wear and tear or any fluctuation in input signals, the robot may not track the desired trajectory. Faults may arise at various levels in robots, for example, in actuator, encoder, and dynamical parameters. Actuator fault detection using encoder sensor will be the main focus in this research paper. The dynamics of robotic arm link is modeled using a DC motor attached with the link, and the encoder attached with the motor will provide position feedback. The fault is detected using EKF state estimation, and the fault is corrected using a PID controller feedback into the motor input torque.

Keywords

Omni bundle Fault detection EKF PID 

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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Rohit Rana
    • 1
    Email author
  • Vijyant Agarwal
    • 2
  • Prerna Gaur
    • 1
  • Harish Parthasarathy
    • 3
  1. 1.Instrumentation and Control Engineering DivisionNetaji Subhas Institute of TechnologyDwarkaIndia
  2. 2.Manufacturing Process and Automation Engineering DivisionNetaji Subhas Institute of TechnologyDwarkaIndia
  3. 3.Electronics and Communication Engineering DivisionNetaji Subhas Institute of TechnologyDwarkaIndia

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