Operational fault detection for telerobotic systems using discrete wavelet transform (DWT) and AC analysis of position data

This paper proposes a methodology for the operational fault detection (OFD) of telerobotic systems using discrete wavelet transform and AC analysis. For the generalization of the proposed methodology, the sensor considered in this study is confined to the sensor, which is usually installed in the standard or general configuration of telerobots, such as joint position sensors. Also, the common characteristics and limitations of telerobots are considered in the development of the algorithms.