An attention enhanced dilated CNN approach for cross-axis industrial robotics fault diagnosis

Abstract

An industrial robot is a complex mechatronics system, whose failure is hard to diagnose based on monitoring data. Previous studies have reported various methods with deep network models to improve the accuracy of fault diagnosis, which can get an accurate prediction model when the amount of data sample is sufficient. However, the failure data is hard to obtain, which leads to the few-shot issue and the bad generalization ability of the model. Therefore, this paper proposes an attention enhanced dilated convolutional neural network (D-CNN) approach for the cross-axis industrial robotics fault diagnosis method. Firstly, key feature extraction and sliding window are adopted to pre-process the monitoring data of industrial robots before D-CNN is introduced to extract data features. And self-attention is used to enhance feature attention capability. Finally, the pre-trained model is used for transfer learning, and a small number of the dataset from another axis of the multi-axis industrial robot are used for fine-tuning experiments. The experimental results show that the proposed method can reach satisfactory fault diagnosis accuracy in both the source domain and target domain.

Keywords

Industrial robot / Fault diagnosis / Dilated convolutional neural network / Self-attention mechanism / Transfer learning

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Funding

Key Program of NSFC-Guangdong Joint Funds(U1801263); Science and Technology Program of Guizhou Province(2020A1515010890); Basic and applied basic research fund of Guangdong Province(2020B1515120010); Zhuhai science and technology plan(ZH22044702190034HJL); Science and Technology Research in key areas in Foshan(2020001006832)