A Cyber-Physical System of Diagnosing Electric Drives of Building Robots

Abstract

A Cyber-Physical System of Diagnosing Electric Drives of Building Robots Alexey Bulgakov, Tatyana Kruglova and Thomas Bock Pages 16-23 (2018 Proceedings of the 35th ISARC, Berlin, Germany, ISBN 978-3-00-060855-1) Abstract: This article studies the development of a cyber-physical system for diagnosing and forecasting the technical condition of electric drives in robots used for construction. The structure of the cyber-physical system is described and the defect statistics for asynchronous drives submitted. Additionally, a critical analysis of existing diagnostic methods, the selection of the optimal set of diagnostic parameters and existing methods for measuring and analyzing the parameters used for the drives adopted in construction robots for is described. Herein, a method capable of distinguishing a faulty state from a load change based on wavelet transformation and neural networks (diagnosing the technical condition of robot drives) is proposed. Finally, we provide the simulation and experimental results of the proposed method. Keywords: Cyber-physical system, building robots, electric drives, diagnosing of technical conditions, forecasting, wavelet transformation, neural networks classification DOI: https://doi.org/10.22260/ISARC2018/0003 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley