Algebraic Fault Detection and Identification for Rigid Robots

TL;DR

This paper introduces an algebraic method using orthonormal Jacobi polynomial approximation for fault detection and identification in nonlinear rigid robots, enabling explicit fault expression decoupled from disturbances.

Contribution

It presents a novel algebraic approach leveraging polynomial approximation for fault detection in nonlinear mechanical systems like rigid robots.

Findings

Faults can be explicitly expressed from equations of motion.

Method effectively decouples faults from disturbances.

Illustrated successfully on a faulty SCARA robot.

Abstract

This paper presents a method for algebraic fault detection and identification of nonlinear mechanical systems, describing rigid robots, by using an approximation with orthonormal Jacobi polynomials. An explicit expression is derived for the fault from the equation of motion, which is decoupled from disturbances and only depends on measurable signals and their time derivatives. Fault detection and identification is then achieved by polynomial approximation of the determined fault term. The results are illustrated for a faulty SCARA.