Fault detection in elastic actuator
A SMARCOS actuator is an elastic actuator based on the MACCEPA concept. The output stiffness function of the actuator can be modified by adding pretension to a linear spring that connects the input and output sides. Modifying this pretension would allow us to emulate faults in the spring and test a fault-tolerant control strategy. Your task would be to implement an online pretension modifying system and integrate it to the existing machinery and real time system. You would also implement an observer to detect the fault by reading the changes in the pretension value. Finally, you would carry out experiments to test the fault emulation and, if possible, fault compensation.
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