Design and Simulation PD Descriptor Observed-Fault Based Detection and Isolation Using Computed Torque Control Law on Robot Manipulator Puma 560 6-DOF

Abstract

Proportional Derivative (PD) observer descriptor is used to observe measurement noise. To overcome the nonlinearity of the manipulator robot, a Computed Torque Controller (CTC) is used which is based on the linearization of the feedback and calculation of the required torque. The simulation results show that the method used is able to overcome the disturbance by bringing the system response following the desired trajectory reference and the signal isolation fault can be generated at the right time in accordance with the measurement noise signal given.