Model Based Fault Detection and Isolation For Robot Manipulators with M-ANFIS and NN

Abstract

With the growing technology fault detection and isolation became one of the interesting and important research areas in automatic control and signal processing. Besides specific missions like waste treatment in nuclear reactors or data collection in space and underwater missions, robots used in automation must be very reliable and this demand forced researchers to adapt available fault isolation studies to robotics. In this study a model based fault isolation system using ANFIS and NN is proposed