Fault Detection and Isolation for Manipulator Robot

In robotics various factors must be take into account for task execution in the presence of a fault. Fault detection and isolation (FDI) are very important for systems in industrial applications. One of the popular approaches is model-based fault detection. In this works, a fault detection and isolation scheme is presented for class of affine nonlinear systems to detect sensor fault for a hyper redundant articulated nimble adaptable trunk (ANAT) robot for five-degree-of-freedom. Simulation results are provided to show the performance of the detection and isolation of the methods.