Table 6 Tested cases results summary.
From: Real time fault diagnosis in industrial robotics using discrete and slantlet wavelet transformations
Type | Faults | Name | Method | Accuracy | Time (sec.) | MSE |
|---|---|---|---|---|---|---|
Simulation24 | Same Faults | Planar | DWT | NOT USED | NOT USED | NOT USED |
SLT/2 | NOT USED | NOT USED | NOT USED | |||
SLT/3 | NOT USED | NOT USED | NOT USED | |||
LabVolt 5150 | DWT | 100% | 35.828441 | 1.2119 × 10− 14 | ||
SLT/2 | 96.5% | 845.995176 | 0.0322 | |||
SLT/3 | 98.1% | 1861.27751 | 0.0186 | |||
Different Faults | Planar | DWT | 88.6% | 16369.9244 | 0.0282 × 10− 3 | |
SLT/2 | 100% | 71.017308 | 4.7088 × 10− 05 | |||
SLT/3 | NOT USED | NOT USED | NOT USED | |||
LabVolt 5150 | DWT | 93.9% | 3075.55145 | 0.0259 × 10− 3 | ||
SLT/2 | 99.9% | 2100 | 8.3969 × 10− 05 | |||
SLT/3 | NOT USED | NOT USED | NOT USED | |||
Experimental Results | Same disturbing force | Planar | DWT | 100% | 140.330720 | 3.3809 × 10− 15 |
SLT/2 | 59.9% | 223.455026 | 0.1361 | |||
SLT/3 | 65.4% | 144.461999 | 0.1166 | |||
LabVolt 5150 | DWT | 100% | 37.495989 | 2.1104 × 10− 15 | ||
SLT/2 | 71.7% | 168.095873 | 0.1062 | |||
SLT/3 | 78.9% | 99.183419 | 0.0871 | |||
Two Variable disturbing forces | Planar | DWT | 100% | 79.486043 | 4.6793 × 10− 05 | |
SLT/2 | 100% | 31.403847 | 2.23 e-15 | |||
SLT/3 | NOT USED | NOT USED | NOT USED | |||
LabVolt 5150 | DWT | 100%` | 1178.4500 | 3.07 e-08 | ||
SLT/2 | 100% | 192.403 s. | 2.47 e-12 | |||
SLT/3 | NOT USED | NOT USED | NOT USED |
