【摘要】 通过多个传感器测量机器人关节的运动状态,建立了多传感器机器人的控制模型,用测量值与控制模型状态的估计值构造残差模型,根据残差分布对机器人的工作状态进行判断。数字仿真表明,控制模型准确、能准确检测机器人的突变故障。更多还原

【Abstract】 A robot control model based on multi-sensor is established by multi-sensor measuring the robot’s movement state and acquiring relevant data,a residue model is also constituted with measuring values and estimated values comes from control mod- el,so we can draw a conclusion to the robot’s work state by the distribution of residue model.Data simulation shows that con- trol model is exact and this method can be used to detect fault.更多还原