Feature extraction for fault diagnosis in series elastic actuators

Perner G, Yousif L, Rinderknecht S, Beckerle P (2016)

Publication Type: Conference contribution

Publication year: 2016

Publisher: IEEE Computer Society

Book Volume: 2016-November

Pages Range: 220-226

Conference Proceedings Title: Conference on Control and Fault-Tolerant Systems, SysTol

Event location: Barcelona ES

ISBN: 9781509006588

DOI: 10.1109/SYSTOL.2016.7739754

Abstract

Series elastic actuators provide beneficial characteristics for safe human-robot interaction and energy efficient robotic motions. Yet, such actuators might have an increased probability of faults due to their higher complexity and operation in critical states, e.g., antiresonance. This contribution investigates feature extraction methods for fault diagnosis in such actuators. Stiffness and motion sensor faults are focused since those are assessed to have high occurrence probabilities with potentially severe consequences. To detect stiffness deviations, a recursive least squares estimator is implemented while Kalman-Bucy filters are applied to generate residuals that indicate encoder faults. The methods are examined using models of system and fault dynamics of a variable torsion stiffness actuator. The simulation results show that very distinct features for fault diagnosis can be extracted. The investigated feature extraction methods are very promising for interpretation by classification methods. Recommendations on how to implement those methods for diagnosis purposes are given.

Authors with CRIS profile

Philipp Beckerle

Involved external institutions

Technische Universität Darmstadt DE Germany (DE)

How to cite

APA:

Perner, G., Yousif, L., Rinderknecht, S., & Beckerle, P. (2016). Feature extraction for fault diagnosis in series elastic actuators. In Ramon Sarrate (Eds.), Conference on Control and Fault-Tolerant Systems, SysTol (pp. 220-226). Barcelona, ES: IEEE Computer Society.

MLA:

Perner, Gernot, et al. "Feature extraction for fault diagnosis in series elastic actuators." Proceedings of the 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016, Barcelona Ed. Ramon Sarrate, IEEE Computer Society, 2016. 220-226.

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