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Advances in Robotics Research
  Volume 2, Number 1, March 2018 , pages 99-112
 open access

FPGA-based ARX-Laguerre PIO fault diagnosis in robot manipulator
Farzin Piltana and Jong-Myon Kim

    The main contribution of this work is the design of a field programmable gate array (FPGA) based ARX-Laguerre proportional-integral observation (PIO) system for fault detection and identification (FDI) in a multi-input, multi-output (MIMO) nonlinear uncertain dynamical robot manipulators. An ARX-Laguerre method was used in this study to dynamic modeling the robot manipulator in the presence of uncertainty and disturbance. To address the challenges of robustness, fault detection, isolation, and estimation the proposed FPGA-based PI observer was applied to the ARX-Laguerre robot model. The effectiveness and accuracy of FPGA based ARX-Laguerre PIO was tested by first three degrees of the freedom PUMA robot manipulator, yielding 6.3%, 10.73%, and 4.23%, average performance improvement for three types of faults (e.g., actuator fault, sensor faults, and composite fault), respectively.
Key Words
    PUMA robot manipulator; FPGA based PI observer; fault diagnosis; ARX method; ARX-Laguerre technique; observation fault diagnosis; PI observation technique
Farzin Piltana and Jong-Myon Kim: School of Electrical Engineering, University of Ulsan, Ulsan 680-749, South Korea

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