A Geometric Approach to Fault Detection and Isolation in Robotic Manipulators

Mehrzad Namvar1, Sasan Karami2

  • 1Sharif university of technology
  • 2Sharid Univerity of technology



Regular Session


10:00 - 12:00 | Mon 17 Dec | Glimmer 3 | MoA11

Robotics I

Full Text


We present a geometric approach for fault detection and isolation (FDI) in robotic manipulators in presence of model uncertainty. A systematic procedure is introduced for representing robotic system model being affine with respect to faults and disturbances. The proposed residual generator has smooth dynamics with freely selectable functions and it does not require high gains or threshold adjustment for the FDI purpose. No assumption on amplitude of faults and their rate is used. The solvability conditions for the FDI problem lead to a quotient observable subspace unaffected by all unknown inputs except the faults. Simulation example demonstrates localization of faults in presence of uncertainty in link moment-of-inertia matrices and measurement noise.

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