Impact analysis of actuator torque degradation on the IRB 120 robot performance using simscape-based model

Actuators in a robot system may become faulty during their life cycle. Locked joints, free-moving and the loss of actuator torque are common types joints where actuators fail. joint issues addressed by many published articles, whereas still opens attractive investigation challenges. The objectives this study to classify torque, named degradation, into three different cases: Boundary degradation boundary rate, proportional analyze impact on performance typical 6-DOF (i.e., IRB 120 robot). Typically, controllers robots not pre-designed specifically for anticipating these faults. To isolate focus only faults, all parameters assumed be known precisely, popular closed-loop controller is used investigate robot’s responses under By exploiting MATLAB-the reliable simulation environment, simscape-based quasi-physical model built utilized instead an actual expensive prototype. results indicate that cannot follow desired path properly most fault cases.