Fault diagnosis of industrial robot based on dual-module attention convolutional neural network

Abstract

Fault diagnosis plays a vital role in assessing the health management of industrial robots and improving maintenance schedules. In recent decades, artificial intelligence-based data-driven approaches have made significant progress in machine fault diagnosis using monitoring data. However, current methods pay less attention to correlations and internal differences in monitoring data, resulting in limited diagnostic performance. In this paper, a data-driven method is proposed for the fault diagnosis of industrial robot reducers, that is, a dual-module attention convolutional neural network (DMA-CNN). This method aims to diagnose the fault state of industrial robot reducer. It establishes two parallel convolutional neural networks with two different attentions to capture the different features related to the fault. Finally, the features are fused to obtain the fault diagnosis results (normal or abnormal). The fault diagnosis effect of the DMA-CNN method and other attention models are compared and analyzed. The effectiveness of the method is verified on a dataset of real industrial robots.

Keywords

Fault diagnosis / Industrial robots / Deep learning / CNN / Attention

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Funding

Key Program of NSFC-Guangdong Joint Funds(U2001201); The project of science and technology plan of Guangdong Province(2020A1515010890); Basic and Applied Basic Research Foundation of Guangdong Province(2020B1515120010); Zhuhai Science and technology Plan(ZH22044702190034HJL); Science and Technology Research in key areas in Foshan(2020001006832)