極限作業用ロボットのヘルスケア技術の開発

概要

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Advanced Robot for the nuclear power plant is now increasing the complexity in comparison with Industrial Robot and its condition in use is severer than before; therefore its safety and reliability are of more and more importance at present. In this paper, for a robot health-care technology of Advanced Robot, a fault diagnosis method of robot servo systems is specified. The fault diagnosis method we developed, consists of the Co-operative Fault Diagnosis of Fault Tree Based Diagnosis and Pattern Diagnosis method. Fault Tree Based Diagnosis method is based on the knowledge of the robot designers and maintenance men. Pattern diagnosis method is based on the pattern comparison of the model and the real fault response. In the proposed Fault Tree Based Diagnosis, we have developed the Knowledge Complier and Fault Simulator for getting the diagnosis knowledge efficiently. In the proposed Pattern Diagnosis, we have developed the Fault Simulator for getting the model fault response with accuracy. Also, these actual examples of Co-operative Fault Diagnosis, Knowledge Complier and Fault Simulator are shown, and then their evaluations specified. In addition, the remained subjects of the Co-operative Fault Diagnosis method have been made clear in this paper.
社団法人日本ロボット学会の論文