Optimal Placement of Vibration Sensors for Industrial Robots Based on Bayesian Theory

摘要

This paper presents an optimal sensor placement method for vibration signal acquisition in the field of industrial robot health monitoring and fault diagnosis. Based on the general formula of Bayes and relative entropy, the evaluation function of sensor placement is deduced, and the modal confidence matrix is used to express the redundancy of sensor placement. The optimal placement of vibration sensors is described as a discrete variable optimization problem, which is defined as whether the existing sensor layout can obtain joint state information efficiently. The initial layout of the sensor was obtained from the structural simulation results of the industrial robots, and the initial layout was optimized by the derived objective function. The efficiency of the optimized layout in capturing joint state information is proven by the validation experiment with a simulation model. The problem of popularizing the optimization method in engineering is solved by a verification experiment without a simulation model. The optimal sensor placement method provides a theoretical basis for industrial robots to acquire vibration data effectively.