ECAI 2004 Conference Paper

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Qualitative Modelling of Kinematic Robots for Fault Detection and Diagnosis

Honghai Liu, George M. Coghill

This study presents an approach, the unit circle (UC), to qualitative representation of manipulators. A manipulator is described as a collection of constraints holding among time-varying, interval-valued parameters. The UC representation is presented, and the continuous motion of the end-effector is evaluated by the change of directions of qualitative angle and qualitative length. Analytical formulas of qualitative velocity and qualitative acceleration are derived. The characteristic mapping is introduced for fault detection and diagnosis in terms of the UC. In the end simulation results demonstrate the feasibility of the UC approach for fault diagnosis. The UC representation of robots concerns a global assessment of the systems behaviour, and it might be used for the purpose of monitoring, diagnosis, and explanation of physical systems. This is the first step to fault diagnosis and remediation for Beagle 2 using qualitative methods.

Keywords: Qualitative modelling, fault diagnosis, robotics

Citation: Honghai Liu, George M. Coghill: Qualitative Modelling of Kinematic Robots for Fault Detection and Diagnosis. In R.López de Mántaras and L.Saitta (eds.): ECAI2004, Proceedings of the 16th European Conference on Artificial Intelligence, IOS Press, Amsterdam, 2004, pp.1051-1052.

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ECAI-2004 is organised by the European Coordinating Committee for Artificial Intelligence (ECCAI) and hosted by the Universitat Politècnica de València on behalf of Asociación Española de Inteligencia Artificial (AEPIA) and Associació Catalana d'Intel-ligència Artificial (ACIA).