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- W2117675571 abstract "The problem of detecting actuator and sensor faults of a robot manipulator using a model-based Fault Detection (FD) technique is addressed. With the proposed FD scheme it is possible to detect a single fault, which can occur on a specific actuator or on a specific sensor. The proposed scheme is composed by an Unknown Input Observer (UIO) and a modified Generalized Observer Scheme (GOS) to make analytical redundancy. The first enables the actuators FD, while the second enables the FD on the sensors. The Sub-Optimal Second Order Sliding Mode Control (SOSMC) approach is exploited to determine the input laws of the observers. The proposed approach is verified in simulation and experimentally on a COMAU SMART3-S2 robot manipulator." @default.
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- W2117675571 date "2008-01-01" @default.
- W2117675571 modified "2023-09-23" @default.
- W2117675571 title "Second order sliding mode observers for Fault Detection of robot manipulators" @default.
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- W2117675571 doi "https://doi.org/10.1109/cdc.2008.4739257" @default.
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