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Tuesday, May 14 • 10:30am - 11:00am
Robot Manipulator Drive Fault Diagnostics using Data-Driven and Analytical Modelling

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Belt-driven mechatronic systems are becoming more popular for a range of applications. A modified robotic manipulator was adapted to allow different faults to be incorporated into the mechanism, with additional sensors to characterize the compromised kinematics. Different data-driven models were used to detect anomalies in motor power consumption and end-effector motion; and a physics-based, lumped-parameter dynamic model was used to identify different faults. Comparative assessment metrics were used to compare the performance of different fault models from sets of laboratory test data.

avatar for Michael Lipsett

Michael Lipsett

Professor, University of Alberta

Tuesday May 14, 2019 10:30am - 11:00am EDT
Freedom Ballroom I