The aim of this paper is to develop appropriate techniques to detect and classify the joint backlash of a robot by monitoring its vibration response during normal operating conditions. In this investigation, Wigner-Ville distributions combined with two-dimensional correlation techniques have been employed to diagnose the joint faults of multi-link robots. In the study reported here, signal detection based on the Wigner-Ville distribution is proposed as a tool for pattern differentiation. To evaluate the performance of different detection procedures, the detection of a simulated impact transient embedded in three simulated observed signals is presented. To assess the validity of the proposed approaches, they have been successfully employed in the fault diagnosis of link-joints on both a two-link mechanism and an industrial robot.

1.
Bicker, H., and Daadbin, A., 1989, “The Monitoring of Vibration in Industrial Robots,” Proceedings, ASME 12th Biennial Conference on Mechanical Vibration and Noise, pp. 273–277.
2.
Boashash
B.
, and
Black
P. J.
,
1987
, “
An Efficient Real-Time Implementation of the Wigner-Ville Distribution
,”
IEEE Transactions on Acoustics, Speech, and Signal Processing
, Vol.
35
, No.
11
, pp.
1611
1618
.
3.
Boashash
B.
, and
O’Shea
P.
,
1990
, “
A Methodology for Detection and Classification of Some Underwater Acoustic Signals Using Time-Frequency Analysis Techniques
,”
IEEE Transactions on Acoustics, Speech, and Signal Processing
, Vol.
38
, No.
11
, pp.
1829
1841
.
4.
Claasen
T. A. C. M.
, and
Mecklenbrauker
W. F. G.
,
1980
a, “
The Wigner Distribution—A Tool for Time-Frequency Signal Analysis Part I: Continuous-Time Signals
,”
Philips Journal of Research
, Vol.
35
, No.
3
, pp.
217
250
.
5.
Claasen
T. A. C. M.
, and
Mecklenbrauker
W. F. G.
,
1980
b, “
The Wigner Distribution—A Tool for Time-Frequency Signal Analysis Part II: Discrete-Time Signals
,”
Philips Journal of Research
, Vol.
35
, No.
4/5
, pp.
276
300
.
6.
Claasen
T. A. C. M.
, and
Meclclenbrauker
W. F. G.
,
1980
c, “
The Wigner Distribution—A Tool for Time-Frequency Signal Analysis Part III: Relations With Other Time-Frequency Signal Transformations
,”
Philips Journal of Research
, Vol.
35
, No.
6
, pp.
372
389
.
7.
Dagalakis, N. G., 1983, “Analysis of Robot Performance Operation,” Proceedings, 13th International Symposium on Industrial Robots, Vol. 1, No. 7, pp. 73–95.
8.
Feldman, M., and Braun, S., 1995, “Identification of Nonlinear System Parameters via the Instantaneous Frequency: Application of the Hilbert Transform and Wigner-Ville Techniques,” Proceedings, 13th International Modal Analysis Conference, pp. 637–642.
9.
Flandrin
P.
,
1988
, “
A Time-Frequency Formulation of Optimum Detection
,”
IEEE Transactions on Acoustics, Speech, and Signal Processing
, Vol.
36
, No.
9
, pp.
1377
1384
.
10.
Janssen
A. J. E. M.
, and
Claasen
T. A. C. M.
,
1985
, “
On Positivity of Time-Frequency Distributions
,”
IEEE Transactions Acoustic, Speech, Signal Processing
, Vol.
33
, pp.
1029
1032
.
11.
Kumar
B. V. K. V.
, and
Carroll
C. W.
,
1984
a, “
Performance of Wigner Distribution Function Based Detection Methods
,”
Optical Engineering
, Vol.
23
, No.
6
, pp.
732
737
.
12.
Kumar
B. V. K. V.
, and
Carroll
C. W.
,
1984
b, “
Effects of Sampling on Signal Detection Using the Cross-Wigner Distribution Function
,”
Applied Optics
, Vol.
23/22
, pp.
4090
4094
.
13.
Pan, M.-C, et al., 1994, “Detection and Quantification of the Link-Joint Backlash of a Robot-Time-Frequency Signal Representation and Feature Extraction,” Proceedings, 19th ISMA Conference: Tools for Noise and Vibration Analysis, Vol. 1, pp. 407–422.
14.
Papoulis, A., 1977, Signal Analysis, McGraw-Hill Book Company.
15.
Bardou
O.
, and
Sidahmed
M.
,
1994
, “
Early Detection of Leakages in the Exhaust and Discharge Systems of Reciprocating Machines by Vibration Analysis
,”
Mechanical Systems and Signal Processing
, Vol.
8
, No.
5
, pp.
551
570
.
16.
Wahl
T. J.
, and
Bolton
J. S.
,
1993
, “
The Application of the Wigner Distribution to the Identification of Structure-Borne Noise Components
,”
Journal of Sound and Vibration
, Vol.
163
, No.
I
, pp.
101
122
.
17.
Warnecke, H. J., et al., 1984, “Application of the Experimental Modal Analysis in the Performance Testing Procedure of Industrial Robots,” Proceedings, Conference 84: European Industrial Robot Activities and Perspectives, pp. 45–54.
This content is only available via PDF.
You do not currently have access to this content.