Metric learning‐based whole health indicator model for industrial robots

摘要

Aiming at the problems of complex structure, high components coupling, and difficultly monitoring of the whole health status with the industrial robot, a metric learning-based whole health indicator model is proposed. First, according to the more obvious degradation characteristics of industrial robots during accelerated operation, the accelerated signal is segmented and then the time-domain features are extracted. Second, the long-term and short-term memory (LSTM) network combined with the multihead attention is used to construct the network model, and the metric learning method is adopted to learn the similarity measurement method of the industrial robot monitoring data. Finally, the similarity measure method got from metric learning is used to construct the whole health indicator, which describes the whole degradation trend of the industrial robot. The experiments are based on the real accelerated aging data set from industrial robots. The results show that the proposed model can effectively construct the whole health indicator for industrial robots. The average trend of the proposed model reaches 0.9769. The average monotonicity reaches 0.5666, which is 0.1748, 0.1577, and 0.1492 higher than the similarity measurement method based on Euclidean distance, Markov distance, and LSTM.