Faults Diagnosis in Robot Systems: A Review

Abstract

Any robot system consists of mechanical and electrical components. These components are combined and compacted together with a special controller to do a specific work. Mostly and with time obsolescence, faults and errors are happen in robot systems lead to work problems. Many years ago, researchers are working in this field. In this paper, a review study focuses on this field is introduced to make classifications between different types of faults and diagnosis methods those used in the field of robotics. Many types of faults are studied, according to some previous and recent works. The most detected faults can be classified into two parts: hardware and software faults. The hardware faults part is further classified into two main types; the first one is represented in sensors and actuators, while the other is included taking into consideration both position and velocity in joints. These joints which usually connect the links of the arm with each other and ensure contentions to motors, controllers, and many sensors, are really represent the most important side have to be studied. The software faults part includes those errors occurred during programming such as any error happen in signal translation, signal classification or signal identification is considered as a software fault. In this paper most of the fault diagnosis and detection methods of faults types in the field of robotics are studied. According to these studied papers, the hardware fault part is the most important part which must be identified and corrected in real time using smart methods.

ROS-Based Condition Monitoring Architecture Enabling Automatic Faults Detection in Industrial Collaborative Robots

“…As discussed during the Introduction, there are two crucial aspects to take into account: (1) there are several mechanical components in a single system and considering their effects together increases the difficulty in analysis; and (2) the same system can be used for many different tasks, making it hard to define a method that may work under every possible working condition. Regarding the first aspect, the mechanical components most affected by failures are the robot joints [4][5][6]. Problems are generally related to the electric motor or to the speed reducer and specifically to some particular part of these two components (i.e., motor windings, bearings, shaft, breaks, gears of the reducer, etc.).…”

Slantlet transform used for faults diagnosis in robot arm

“…A robot is a reprogrammable multifunctional manipulator that is programmed to move (materials, components, and tools). The robot arm system can be exposed to many problems, which can lead to failures or system faults [16]. Robots can malfunction due to human mistake, control panel issues, mechanical faults, power outages, and environmental variables.…”

“…As shown in Figure 4, it considers a variety of windows with varying scales and widths (7). In this way, the wavelet transform will divide data into several frequency components and investigate each one separately [16], [20].…”

Structural topic modeling-based systematic review for service robots’ fault diagnosis: content, popularity and regional differences

“…Golomebk et al [16] reviewed the diagnostic methods for different robot systems' fault characteristics, clarifying the advantages and challenges of different methods. Alobaidy et al [17] classified the faults of robots and reviewed the diagnostic methods for different types of faults, highlighting the importance of intelligent methods. Khalastchi and Kalech [18] considered the increasingly complex robot systems in recent years and reviewed the fault diagnosis methods for multi-system robot systems.…”