Actuator Faults Detection Design and Simulation for Two-link Flexible Manipulator Using Residual Momentum

This paper applies an algorithm to detect the residual momentum of a two-link flexible manipulator to estimate the fault state. First, we establish a dynamic model based on the Lagrange equations and assumed modes method. For the two-link flexible manipulator in the vertical plane, we consider both the dead weight of arms and the weight of loads. Second, we get residual momentum based on the derivative of momentum. Using the dynamic model of the above manipulator, we deduce the residual momentum fault detection algorithm. Finally, MatlablSimulink is used to establish simulation platform, and the influence of flexible deformation mode on the rotational angle in the calculation of residual momentum is taken into account. The simulation is about both drives faults and collision faults, then gives out the change curves of the corresponding residual momentum. The results show that the residual momentum model established in this paper can be applied to rigid arms and flexible arms. According to the size and trend of residual momentum, we can carry out corresponding fault classification and diagnosis. And from the simulation, it shows that the residual momentum reflects the value of the desired input torque in that period of time.