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dc.contributor.author黃暉鈞en_US
dc.contributor.authorHuei-jyun Haungen_US
dc.contributor.author蕭得聖en_US
dc.contributor.authorTe-Sheng Hsiaoen_US
dc.date.accessioned2014-12-12T01:14:17Z-
dc.date.available2014-12-12T01:14:17Z-
dc.date.issued2007en_US
dc.identifier.urihttp://140.113.39.130/cdrfb3/record/nctu/#GT009512528en_US
dc.identifier.urihttp://hdl.handle.net/11536/38241-
dc.description.abstract本論文的貢獻在於對機械臂僅裝置角度編碼器以降低成本的情況下，發展應用於機械臂的即時錯誤偵測與辨識演算法，以期能對機械臂的運作狀態進行良好估測，增加機器人運作的安全性。文中將使用非追蹤型卡曼濾波器進行機械臂角度和角速度的估測，使用期望值最大化演算法估測摩擦力，利用濾波扭力計算與多模型組態GPB-2演算法來判斷錯誤模型的種類，由模擬結果可看到該即時演算法的確比原始的多模型組態GPB-2演算法更為精確與有效率。zh_TW
dc.description.abstractThis thesis has a great contribution on detection and identification of the robot's actuator failures by combining UKF(Unscented Kalman Filter), GPB-2 algorithm, EM algorithm and pre-classification of fault models. Simulation results show that the proposed FDI(fault detection and identification) algorithm is better than conventional GPB-2 algorithm in terms of computational efficiency and accuracy of fault detection.en_US
dc.language.isozh_TWen_US
dc.subject錯誤偵測zh_TW
dc.subject錯誤識別zh_TW
dc.subject致動器zh_TW
dc.subjectfault detectionen_US
dc.subjectfault isolationen_US
dc.subjectactuatoren_US
dc.title使用快速GPB-2演算法的即時機器人致動器錯誤偵測與識別zh_TW
dc.titleReal-Time Detection and Identification of Robot Actuator Failures with Fast GPB-2 Algorithmen_US
dc.typeThesisen_US
dc.contributor.department電控工程研究所zh_TW
Appears in Collections:Thesis


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