Actuator Health State Monitoring & Degradation Impact Study on a 4-Mecanum Wheeled Mobile Robot Behaviour

This paper describes a methodology aiming to supervise the state of actuator health in 4-mecanum wheeled mobile robots after a fault detection, and to study its impact on the robots behaviour. The main contribution is on the one hand simultaneous actuator faults diagnosis (i.e. fault detection, isolation and identification), and on the other hand the study of these faults impact on the robot behaviour. The objective is to determine degradation limits (related to security intervals) that guarantee the robot still has the desired performance, taking into account the environment conditions.Here, actuator loss of efficiency due to wear are considered as faults. Two main cases are dealt: 1) All the four-actuators lose from 0% (i.e. no fault) to 95% of their efficiency. 2) One actuator is completely defective (it loses 100% of its efficiency), while the three others lose from 0% to 95% of their efficiency.