Soft Manipulator Fault Detection and Identification Using ANC-based LSTM
Haoyuan Gu,Hanjiang Hu,Hesheng Wang,Weidong Chen,Haoyuan Gu,Hanjiang Hu,Hesheng Wang,Weidong Chen
Timely fault detection and identification (FDI) of soft manipulators are critical in the design of surgical systems to improve reliability. However, due to the intrinsic compliance of soft manipulators, their end effectors vibrate during the dynamic control process, which introduces noise into the measured signals and makes FDI of soft manipulators challenging. This paper proposes a novel method t...
