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fault isolation

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A time-delayed observer for fault detection and isolation in industrial robots
F. Caccavale, P. Chiacchio, I. D. Walker
Journal:

Robotica / Volume 24 / Issue 5 / September 2006

Published online by Cambridge University Press:

14 February 2006, pp. 557-565
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In this paper a discrete-time observer-based approach to Fault Detection and Isolation (FDI) for industrial robotic manipulators is presented and experimentally tested. In order to counteract the effects of unmodeled dynamics and disturbances, a time-delayed estimate of such effects is adopted. Remarkably, the observer is designed directly in the discrete-time domain. The performance of the proposed approach are experimentally verified on a six-degrees-of-freedom industrial robot.