Enhancing robotic manipulator fault detection with advanced machine learning techniques

摘要

Abstract The optimization of rotating machinery processes is crucial for enhanced industrial productivity. Automatic machine health monitoring systems play a vital role in ensuring smooth operations. This study introduces a novel approach for fault diagnosis in robotic manipulators through motor sound analysis to enhance industrial efficiency and prevent machinery downtime. A unique dataset is generated using a custom robotic manipulator to examine the effectiveness of both deep learning and traditional machine learning in identifying motor anomalies. The investigation includes a two-stage analysis, initially leveraging 2D spectrogram features with neural network architectures, followed by an evaluation of 1D MFCC features using various conventional machine learning algorithms. The results reveal that the proposed custom CNN and 1D-CNN models significantly surpass traditional methods, achieving an F1-score exceeding 92%, highlighting the potential of sound analysis for automated fault detection in robotic systems. Additional experiments were carried out to investigate 1D MFCC features with various machine learning algorithms, including KNN, DT, LR, RF, SVM, MLP, and 1D-CNN. Augmented with additional data collected from the locally designed manipulator, our experimental setup significantly enhances model performance. Particularly, the 1D-CNN stands out as the top-performing model on the augmented dataset.