Actuator failure detection and isolation using generalized momenta

@article{DeLuca2003ActuatorFD,
  title={Actuator failure detection and isolation using generalized momenta},
  author={Alessandro De Luca and Raffaella Mattone},
  journal={2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)},
  year={2003},
  volume={1},
  pages={634-639 vol.1}
}
  • Alessandro De LucaR. Mattone
  • Published 10 November 2003
  • Engineering
  • 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)
We present a method based on the use of generalized momenta for detecting and isolating actuator faults in robot manipulators. The FDI scheme does not need acceleration estimates or simulation of the nominal robot dynamics and covers a general class of input faults. Numerical results for a 2R robot undergoing also concurrent actuator faults are reported. This method is extended to robots with joint elasticity and to the inclusion of actuator dynamics. 
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