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    A geometric approach to fault detection and isolation in robotic manipulators

    , Article Proceedings of the IEEE Conference on Decision and Control, 17 December 2018 through 19 December 2018 ; Volume 2018-December , 2019 , Pages 391-396 ; 07431546 (ISSN); 9781538613955 (ISBN) Karami, S ; Namvar, M ; Sharif University of Technology
    Institute of Electrical and Electronics Engineers Inc  2019
    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...