@inproceedings{luca_actuator_2003,
	title = {Actuator failure detection and isolation using generalized momenta},
	volume = {1},
	doi = {10.1109/ROBOT.2003.1241665},
	abstract = {We present a method based on the use of generalized momenta for detecting and isolating actuator faults in robot manipulators. The FDI scheme does not need acceleration estimates or simulation of the nominal robot dynamics and covers a general class of input faults. Numerical results for a 2R robot undergoing also concurrent actuator faults are reported. This method is extended to robots with joint elasticity and to the inclusion of actuator dynamics.},
	booktitle = {2003 {IEEE} {International} {Conference} on {Robotics} and {Automation} ({Cat}. {No}.03CH37422)},
	author = {Luca, A. De and Mattone, R.},
	month = sep,
	year = {2003},
	keywords = {2R robot, Acceleration, Actuators, Elasticity, Fault detection, Fault tolerance, Manipulator dynamics, Parameter estimation, Robot kinematics, Robot sensing systems, Torque, actuator dynamics, actuators, failure analysis, failure detection, failure isolation, fault diagnosis, generalized momenta, manipulator dynamics, matrix algebra, observers, robot joint elasticity, robot manipulators},
	pages = {634--639 vol.1}
}

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