Actuator failure detection and isolation using generalized momenta
- 1 January 2003
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 634-639
- https://doi.org/10.1109/robot.2003.1241665
Abstract
We present a method based on the use of generalized momenta for detecting and isolating actuator faults in robot manipulators. The FDI scheme does not need acceleration estimates or simulation of the nominal robot dynamics and covers a general class of input faults. Numerical results for a 2R robot undergoing also concurrent actuator faults are reported. The method is extended to robots with joint elasticity and to the inclusion of actuator dynamicsKeywords
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