Lomakin A, Deutscher J (2020)
Publication Language: English
Publication Type: Conference contribution
Publication year: 2020
Pages Range: 9352-9358
DOI: 10.1109/icra40945.2020.9197561
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 by a simulation for a faulty SCARA.
APA:
Lomakin, A., & Deutscher, J. (2020). Algebraic fault detection and identification for rigid robots. In Proceedings of the International Conference on Robotics and Automation (ICRA) (pp. 9352-9358). Paris, FR.
MLA:
Lomakin, Alexander, and Joachim Deutscher. "Algebraic fault detection and identification for rigid robots." Proceedings of the International Conference on Robotics and Automation (ICRA), Paris 2020. 9352-9358.
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