The paper considers synthesis of system for detection of faults in sensors and electric drives of manipulation robots. During the operation of the system, the position of the manipulator and its links is determined using a vision system with a stereo camera and a marker located on the manipulator's working tool. This position is then compared with the position calculated from the readings of the rotation angle sensors of each joint of the manipulator The conclusion about the presence of a fault is made from the analysis of the results of this comparison. To test the operability of the proposed system, an experimental study was conducted using a MITSUBISHI RV-2FB manipulator. The experimental results confirmed the efficiency of the method.
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Filaretov et al. (2024) studied this question.
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