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This paper presents a method for algebraic fault detection and identificationof nonlinear mechanical systems, describing rigid robots, by using anapproximation with orthonormal Jacobi polynomials. An explicit expression isderived for the fault from the equation of motion, which is decoupled fromdisturbances and only depends on measurable signals and their time derivatives.Fault detection and identification is then achieved by polynomial approximationof the determined fault term. The results are illustrated for a faulty SCARA.

Algebraic Fault Detection and Identification for Rigid Robots