On the Fault Detection and Isolation of Industrial Robot Manipulators

Fault detection and isolation of robot manipulators is a subject that has beenwidely investigated in the past decade and different methodologies have been proposed.However, there is still a lack of techniques that are adequate to a straightforwardapplication to the detection of real fault in industrial robots. In this paper we proposea very simple but effective strategy for fault detection and isolation, which is based onthe analysis of the robot behavior matching with real mechanical and electrical failures.Simulation results show the effectiveness of the method, despite its straightforwardnesscompared to the approaches proposed by recent literature