1992 Fiscal Year Final Research Report Summary
State-Analysis and Fault-Diagnosis of Robot Motion due to Vibration Analysis
| Project/Area Number |
02555049
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| Research Category |
Grant-in-Aid for Developmental Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
機械力学・制御工学
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| Research Institution | Kanazawa University |
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Principal Investigator |
KAMIYA Yoshitsugu Kanazawa University, Faculty of Technology, Associate Professor, 工学部, 助教授 (80092774)
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| Co-Investigator(Kenkyū-buntansha) |
AOYAGI Seiji Kanazawa University, Faculty of Technology, Research Assistant, 工学部, 助手 (30202493)
OKABE Sakiichi Kanazawa University Faculty of Technology, Professor, 工学部, 教授 (10019747)
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| Project Period (FY) |
1990 – 1992
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| Keywords | Robot Motion / Fault-Diagnosis / Vibration Analysis / State-Analysis / Statistical Test |
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| Research Abstract |
In 1990, experimental robot that is the main apparatus in this study is developed so as to analyze the vibration of robot, and is controlled by a micro computer. Meanwhile the vibration of arm that is generated in the motion of robot is simulated by computer, and the algorithm that detects the fault of robot motion is investigated.
In 1991, the vibration of robot arm is processing by a micro computer. Then it is found that the vibration of arm is a non-stationary signal through a non-linear dynamics of robot. And it is also found that the general vibration analysis method like the FET-method cannot analyze the state of robot motion. Therefore, IN THIS STUDY, THE STATISTICAL X^2 test of the vibration amplitude distribution is newly proposed to detect the fault of robot motion.
In 1992, the statistical X^2 test of the vibration amplitude distribution is applied to the various faults of robot motion and the reliability of this method is investigated. The dynamics of robot is very complex so as to arm's complex configuration of robot. Then new construction of robot that does not change the dynamics of robot due to arm's configuration of robot.
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