A model-based diagnostic engine for a multi-joint serial robot arm

This report, known as the first year’s report, will cover the activities of some eight months of the first year of our project, ‘Building a model-based diagnostic engine for a multi-joint serial robot arm’. The report will detail the motivation for the project and contain a discussion of its value. We present our investigation of previous and current work in the field of diagnosis and our conclusions to the relevance of the material covered to our solution. We draw a detailed work plan that encompasses all steps identified as necessary for the successful completion of the project and outline the expected rate of progress. Finally, we present our solution and discuss its merits and disadvantages.