Method of diagnosis of mechatronic systems
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Abstract
The paper proposes a unified methodology for fault diagnosis of mechatronic systems. System models including electronic, mechanical and coupling subparts are developed. A diagnosis algorithm originally introduced for electronic circuits, is extended to mechatronic systems. Differences of the application are also pointed out: large spread in time constants, different levels of measurement noise in different subparts. The robot arm is tested to confirm effectiveness of the method
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