Fault detection of two wheel inverted pendulum robot with center of gravity self-adjusting mechanism

摘要

In this paper, we proposed an improved PCA fault detection strategy for two wheel inverted pendulum robot with center of gravity self-adjusting mechanism. The two wheel inverted pendulum robot has its inherent advantages in mobile performance. However, the instability is also a weakness of the robot and it limits the robot application scenarios. To improve the safety and reliability of the robot, we employ the improved PCA fault detection method to detect the fault occurrence and locate the fault position according to the analysis of the robot fault phenomenon, fault cause and fault position. Finally, the simulation results based on the real time data from prototype demonstrate the effectiveness of the proposed method.