On the Fault Detection and Isolation of Industrial Robot Manipulators
نویسندگان
چکیده
Fault detection and isolation of robot manipulators is a subject that has been widely investigated in the past decade and different methodologies have been proposed. However, there is still a lack of techniques that are adequate to a straightforward application to the detection of real fault in industrial robots. In this paper we propose a very simple but effective strategy for fault detection and isolation, which is based on the analysis of the robot behavior matching with real mechanical and electrical failures. Simulation results show the effectiveness of the method, despite its straightforwardness compared to the approaches proposed by recent literature. Copyright c © 2003 IFAC
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