Fault detection for robot manipulators with parametric uncertainty: a prediction error based approach

We introduce a new approach to fault detection for robot manipulators. The technique, which is based on the isolation of fault signatures via filtered torque prediction error estimates, does not require measurements or estimates of manipulator acceleration as is the case with some of the previously suggested methods. The method is formally demonstrated to be robust under uncertainty in the robot parameters. Furthermore, an adaptive version of the algorithm is introduced, and shown to both improve coverage and significantly reduce detection times. The effectiveness of the approach is demonstrated by experiments with a two-joint manipulator system