Fault detection and state estimation in robotic automatic control using machine learning

Abstract

In the commercial and industrial sectors, automatic robotic control mechanisms, which include robots, end effectors, and anchors containing components, are often utilized to enhance service quality. Robotic systems must be installed in manufacturing lines for a variety of industrial purposes, which also increases the risk of a robot, end controller, and/or device malfunction. According to its automated regulation, this may hurt people and other items in the workplace in addition to resulting in a reduction in quality operation. With today's advanced systems and technology, security and stability are crucial. Hence, the system is equipped with fault management abilities for the identification of developing defects and assessment of their influence on the system's activity in the upcoming utilizing fault diagnostic methodologies. To provide adaptive control, fault detection, and state estimation for robotic automated systems intended to function dependably in complicated contexts, efficient techniques are described in this study. This paper proposed a fault detection and state estimation using Accelerated Gradient Descent based support vector machine (AGDSVM) and gaussian filter (GF) in automatic control systems. The Proposed system is called (AGDSVM + GF). The proposed system is evaluated with the following metrics accuracy, fault detection rate, state estimation rate, computation time, error rate, and energy consumption. The result shows that the proposed system is effective in fault detection and state estimation and provides intelligent control automatic control.