An adapt-and-detect actuator FDI scheme for robot manipulators

An adaptive scheme is presented for actuator fault detection and isolation (FDI) in robotic systems, based on the use of generalized momenta and of a suitable overparametrization of the uncertain robot dynamics. This allows to obtain an accurate and reliable detection and isolation of possibly concurrent faults also during the parameter adaptation phase. Experimental results are reported for a planar robot under gravity, considering partial, total, or bias-type failures of the motor torques.