Supervision of industrial manipulators using ANFIS system

摘要

It This study focuses on the supervision of industrial manipulators with two degree of freedom. The aims are to detect the faults of viscous friction at robot joints and to ensure real-time control reconfiguration in order to ensure the continuation of the robot operation. This approach used the hierarchical internet connection protocol (TCP-IP) for sure data transmission and real time. Residual generation method is used with static threshold for faults detection and also a Fault Tolerant Control (FTC) in order to correct the control signal by ANFIS corrector technique.