Model-based fault detection and isolatio
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I. S. Lee; J. T. Kim; J. W. Lee; D. Y. Lee; K. Y. Kim
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Article
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2003
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John Wiley and Sons
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English
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This article presents a model-based fault diagnosis method to detect and isolate faults in the robot arm control system. The proposed algorithm is composed functionally of three main parts: parameter estimation, fault detection, and isolation. When a change in the system occurs, the errors between t