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Scholars Journal of Engineering and Technology | Volume-2 | Issue-05
A System Diagnosis using Descriptor Model with a Constrained Dynamic Motion in a Robot Gripper
Raiwung Park
Published: Sept. 30, 2014 |
98
86
DOI: 10.36347/sjet
Pages: 755-760
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Abstract
This research illustrates a method to diagnose a system regarding to an automatic screw or welding assembly
line via the industrial robot that builds a constraint system with counterparts at the moment of working. The timely
righteous estimation and judgment of the states is very important for the safe operation in time domain system. The
synthesis of this problem presumes that all state variables are observable for concerned system. But it seems that it is not
feasible to measure all modes of states of velocities, accelerations, forces and moments directly. A practical solution to
this problem, which should be tried, is the estimation of the states or its velocities by the use of an observer which can
estimate a system characteristics of linear or nonlinear states and effects as a mode, so called, “ Indirect measurement”.
For this procedure, the mathematical model of the concerned physical system which consists of links over joints and
Gripper with the end effector, is derived with the significant remarks such as friction, gravitation, and Coriolis force. This
is a basic system. The concrete assignment is to design the observer that estimates the characteristics of the states and
velocities based on the measurement vectors.