{"id":"https://openalex.org/W4285791443","doi":"https://doi.org/10.32604/iasc.2023.029210","title":"Fault Diagnosis in Robot Manipulators Using SVM and KNN","display_name":"Fault Diagnosis in Robot Manipulators Using SVM and KNN","publication_year":2022,"publication_date":"2022-07-19","ids":{"openalex":"https://openalex.org/W4285791443","doi":"https://doi.org/10.32604/iasc.2023.029210"},"language":"en","primary_location":{"id":"doi:10.32604/iasc.2023.029210","is_oa":true,"landing_page_url":"https://doi.org/10.32604/iasc.2023.029210","pdf_url":"https://file.techscience.com/ueditor/files/iasc/TSP_IASC-35-2/TSP_IASC_29210/TSP_IASC_29210.pdf","source":{"id":"https://openalex.org/S40639465","display_name":"Intelligent Automation & Soft Computing","issn_l":"1079-8587","issn":["1079-8587","2326-005X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Automation & Soft Computing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://file.techscience.com/ueditor/files/iasc/TSP_IASC-35-2/TSP_IASC_29210/TSP_IASC_29210.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"D. Maincer","orcid":null},"institutions":[{"id":"https://openalex.org/I157169809","display_name":"University of Sciences and Technology Houari Boumediene","ror":"https://ror.org/02kb89c09","country_code":"DZ","type":"education","lineage":["https://openalex.org/I157169809"]}],"countries":["DZ"],"is_corresponding":true,"raw_author_name":"D. Maincer","raw_affiliation_strings":["Laboratoire de Robotiques Paralllisme et Systmes Embarquer, Dpartement Automatique et Control, Universit des Sciences et Technologie Houari Boumediene, Algiers, Algeria","Laboratoire de Robotiques Parall\u00e9lisme et Syst\u00e8mes Embarquer, D\u00e9partement Automatique et Control, Universit\u00e9 des Sciences et Technologie Houari Boumediene, Algiers, Algeria"],"affiliations":[{"raw_affiliation_string":"Laboratoire de Robotiques Paralllisme et Systmes Embarquer, Dpartement Automatique et Control, Universit des Sciences et Technologie Houari Boumediene, Algiers, Algeria","institution_ids":["https://openalex.org/I157169809"]},{"raw_affiliation_string":"Laboratoire de Robotiques Parall\u00e9lisme et Syst\u00e8mes Embarquer, D\u00e9partement Automatique et Control, Universit\u00e9 des Sciences et Technologie Houari Boumediene, Algiers, Algeria","institution_ids":["https://openalex.org/I157169809"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060639790","display_name":"Youcef Benmahamed","orcid":"https://orcid.org/0000-0001-7179-3448"},"institutions":[{"id":"https://openalex.org/I2802493600","display_name":"Polytechnic School of Algiers","ror":"https://ror.org/05t0zwy08","country_code":"DZ","type":"education","lineage":["https://openalex.org/I2802493600"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Y. Benmahamed","raw_affiliation_strings":["Laboratoire de Recherche en Electrotechnique, Ecole Nationale Polytechnique, B.P 182, El-Harrach, 16200, Algiers, Algeria"],"affiliations":[{"raw_affiliation_string":"Laboratoire de Recherche en Electrotechnique, Ecole Nationale Polytechnique, B.P 182, El-Harrach, 16200, Algiers, Algeria","institution_ids":["https://openalex.org/I2802493600"]}]},{"author_position":"middle","author":{"id":null,"display_name":"M. Mansour","orcid":null},"institutions":[{"id":"https://openalex.org/I157169809","display_name":"University of Sciences and Technology Houari Boumediene","ror":"https://ror.org/02kb89c09","country_code":"DZ","type":"education","lineage":["https://openalex.org/I157169809"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"M. Mansour","raw_affiliation_strings":["Laboratoire de Robotiques Paralllisme et Systmes Embarquer, Dpartement Automatique et Control, Universit des Sciences et Technologie Houari Boumediene, Algiers, Algeria","Laboratoire de Robotiques Parall\u00e9lisme et Syst\u00e8mes Embarquer, D\u00e9partement Automatique et Control, Universit\u00e9 des Sciences et Technologie Houari Boumediene, Algiers, Algeria"],"affiliations":[{"raw_affiliation_string":"Laboratoire de Robotiques Paralllisme et Systmes Embarquer, Dpartement Automatique et Control, Universit des Sciences et Technologie Houari Boumediene, Algiers, Algeria","institution_ids":["https://openalex.org/I157169809"]},{"raw_affiliation_string":"Laboratoire de Robotiques Parall\u00e9lisme et Syst\u00e8mes Embarquer, D\u00e9partement Automatique et Control, Universit\u00e9 des Sciences et Technologie Houari Boumediene, Algiers, Algeria","institution_ids":["https://openalex.org/I157169809"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001761775","display_name":"Mosleh M. Alharthi","orcid":"https://orcid.org/0000-0002-0935-9998"},"institutions":[{"id":"https://openalex.org/I179331831","display_name":"Taif University","ror":"https://ror.org/014g1a453","country_code":"SA","type":"education","lineage":["https://openalex.org/I179331831"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Mosleh Alharthi","raw_affiliation_strings":["Electrical Engineering Department, College of Engineering, Taif University, P. O. Box 11099, Taif, 21944, Saudi Arabia"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, College of Engineering, Taif University, P. O. Box 11099, Taif, 21944, Saudi Arabia","institution_ids":["https://openalex.org/I179331831"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001497703","display_name":"Sherif S. M. Ghonein","orcid":null},"institutions":[{"id":"https://openalex.org/I179331831","display_name":"Taif University","ror":"https://ror.org/014g1a453","country_code":"SA","type":"education","lineage":["https://openalex.org/I179331831"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Sherif S. M. Ghonein","raw_affiliation_strings":["Electrical Engineering Department, College of Engineering, Taif University, P. O. Box 11099, Taif, 21944, Saudi Arabia"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, College of Engineering, Taif University, P. O. Box 11099, Taif, 21944, Saudi Arabia","institution_ids":["https://openalex.org/I179331831"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157169809"],"apc_list":null,"apc_paid":null,"fwci":1.9443,"has_fulltext":true,"cited_by_count":17,"citation_normalized_percentile":{"value":0.85483314,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"35","issue":"2","first_page":"1957","last_page":"1969"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9866999983787537,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10220","display_name":"Machine Fault Diagnosis Techniques","score":0.9847999811172485,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/support-vector-machine","display_name":"Support vector machine","score":0.8062136173248291},{"id":"https://openalex.org/keywords/scara","display_name":"SCARA","score":0.7667461037635803},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.592571496963501},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.5657816529273987},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.5422497987747192},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5154865384101868},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48979735374450684},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4151949882507324},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.39528873562812805},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32299983501434326},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3210904598236084},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.303581565618515}],"concepts":[{"id":"https://openalex.org/C12267149","wikidata":"https://www.wikidata.org/wiki/Q282453","display_name":"Support vector machine","level":2,"score":0.8062136173248291},{"id":"https://openalex.org/C158732272","wikidata":"https://www.wikidata.org/wiki/Q1484792","display_name":"SCARA","level":3,"score":0.7667461037635803},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.592571496963501},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.5657816529273987},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.5422497987747192},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5154865384101868},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48979735374450684},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4151949882507324},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.39528873562812805},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32299983501434326},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3210904598236084},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.303581565618515},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.32604/iasc.2023.029210","is_oa":true,"landing_page_url":"https://doi.org/10.32604/iasc.2023.029210","pdf_url":"https://file.techscience.com/ueditor/files/iasc/TSP_IASC-35-2/TSP_IASC_29210/TSP_IASC_29210.pdf","source":{"id":"https://openalex.org/S40639465","display_name":"Intelligent Automation & Soft Computing","issn_l":"1079-8587","issn":["1079-8587","2326-005X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Automation & Soft Computing","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.32604/iasc.2023.029210","is_oa":true,"landing_page_url":"https://doi.org/10.32604/iasc.2023.029210","pdf_url":"https://file.techscience.com/ueditor/files/iasc/TSP_IASC-35-2/TSP_IASC_29210/TSP_IASC_29210.pdf","source":{"id":"https://openalex.org/S40639465","display_name":"Intelligent Automation & Soft Computing","issn_l":"1079-8587","issn":["1079-8587","2326-005X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Automation & Soft Computing","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.5600000023841858,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G364282913","display_name":null,"funder_award_id":"TURSP-2020/122","funder_id":"https://openalex.org/F4320323722","funder_display_name":"Taif University"},{"id":"https://openalex.org/G5339273845","display_name":null,"funder_award_id":"TURSP-2020/12","funder_id":"https://openalex.org/F4320323722","funder_display_name":"Taif University"},{"id":"https://openalex.org/G6769911199","display_name":null,"funder_award_id":"Saudi Arabia.","funder_id":"https://openalex.org/F4320323722","funder_display_name":"Taif University"},{"id":"https://openalex.org/G6957540374","display_name":null,"funder_award_id":"2020/122","funder_id":"https://openalex.org/F4320323722","funder_display_name":"Taif University"},{"id":"https://openalex.org/G7299194679","display_name":null,"funder_award_id":"TURSP-2020","funder_id":"https://openalex.org/F4320323722","funder_display_name":"Taif University"}],"funders":[{"id":"https://openalex.org/F4320323722","display_name":"Taif University","ror":"https://ror.org/014g1a453"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4285791443.pdf","grobid_xml":"https://content.openalex.org/works/W4285791443.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W207455506","https://openalex.org/W1495862233","https://openalex.org/W1996020380","https://openalex.org/W2006566119","https://openalex.org/W2029510805","https://openalex.org/W2033884996","https://openalex.org/W2046472945","https://openalex.org/W2046956237","https://openalex.org/W2060966665","https://openalex.org/W2122111042","https://openalex.org/W2145804350","https://openalex.org/W2158446542","https://openalex.org/W2343693428","https://openalex.org/W2507795633","https://openalex.org/W2727488328","https://openalex.org/W2792282766","https://openalex.org/W2886556354","https://openalex.org/W2905373577","https://openalex.org/W3035926446","https://openalex.org/W3131537575","https://openalex.org/W3132371243","https://openalex.org/W3135197538","https://openalex.org/W3167593903","https://openalex.org/W3194447830","https://openalex.org/W3194666466","https://openalex.org/W3195753757","https://openalex.org/W3200211152","https://openalex.org/W4231980343","https://openalex.org/W4239510810","https://openalex.org/W4248564984","https://openalex.org/W6641043005","https://openalex.org/W6687015662","https://openalex.org/W6687443311","https://openalex.org/W6724690328","https://openalex.org/W6753797118","https://openalex.org/W6762968866"],"related_works":["https://openalex.org/W152605265","https://openalex.org/W3095489175","https://openalex.org/W2573045761","https://openalex.org/W2791240990","https://openalex.org/W1486209696","https://openalex.org/W4230747644","https://openalex.org/W3169911176","https://openalex.org/W1968617831","https://openalex.org/W1531268293","https://openalex.org/W90395729"],"abstract_inverted_index":{"In":[0],"this":[1,47,93],"paper,":[2],"Support":[3],"Vector":[4],"Machine":[5],"(SVM)":[6],"and":[7,36,56,80,85,105,141],"K-Nearest":[8],"Neighbor":[9],"(KNN)":[10],"based":[11,96],"methods":[12],"are":[13],"to":[14,72,118,170],"be":[15],"applied":[16],"on":[17,97,128,194],"fault":[18,192],"diagnosis":[19,193],"in":[20,31,46,92,191],"a":[21,75,120,132,167,195],"robot":[22,139,196],"manipulator.":[23,197],"A":[24],"comparative":[25],"study":[26],"between":[27],"the":[28,38,52,54,57,60,66,83,98,102,106,115,129,142,146,152,155,159,163,176,185],"two":[29],"classifiers":[30],"terms":[32],"of":[33,41,59,131,154],"successfully":[34],"detecting":[35],"isolating":[37],"seven":[39],"classes":[40],"sensor":[42],"faults":[43],"is":[44,71,78,95],"considered":[45],"work.":[48],"For":[49],"both":[50],"classifiers,":[51],"torque,":[53],"position":[55],"speed":[58],"manipulator":[61],"have":[62],"been":[63],"employed":[64],"as":[65],"input":[67],"vector.":[68],"However,":[69],"it":[70],"mention":[73],"that":[74,145,175],"large":[76],"database":[77],"needed":[79],"used":[81,91,190],"for":[82],"training":[84],"testing":[86],"phases.":[87],"The":[88],"SVM":[89,156,177],"method":[90],"paper":[94],"Gaussian":[99],"kernel":[100],"with":[101,158,179],"parameters":[103],"\u03b3":[104],"penalty":[107],"margin":[108],"parameter":[109],"\u201cC\u201d,":[110],"which":[111],"were":[112,125],"adjusted":[113],"via":[114],"PSO":[116,180],"algorithm":[117,157,165,178,187],"achieve":[119],"maximum":[121],"accuracy":[122,161],"diagnosis.":[123],"Simulations":[124],"carried":[126],"out":[127],"model":[130],"Selective":[133],"Compliance":[134],"Assembly":[135],"Robot":[136],"Arm":[137],"(SCARA)":[138],"manipulator,":[140],"results":[143,173],"showed":[144,174],"Particle":[147],"Swarm":[148],"Optimization":[149],"(PSO)":[150],"increased":[151],"performance":[153],"96.95%":[160],"while":[162],"KNN":[164,186],"achieved":[166],"correlation":[168],"up":[169],"94.62%.":[171],"These":[172],"was":[181,189],"more":[182],"precise":[183],"than":[184],"when":[188]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":3}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}