Fault Detection and Isolation on Flexible-Joint Manipulators

In this paper, first we survey Fault Detection and Isolation (FDI) for nonlinear systems. A necessary condition for the problem to be solvable is derived in terms of an unobservability distribution, which is computable by means of suitable algorithms. Then we apply this method on m-link manipulators with flexible joints in order to detect actuator faults. The simulation result for the case of a single-link flexible joint manipulator reveals the effectiveness of approach

کلیدواژه ها:

fault detection and isolation ، disturbance ، manipulator ، flexible-joint