抄録
The developments of practical application using the smart structure system are desired since recent years in Japan. The improvement of the social recognition for smart structure systems is an important subject, due to the concept of smart structure is not familiar in Japan. This paper addresses the example of the one-link robot arm as a home robot use by adopting the concept of smart structure. The supervisory fault diagnosis method with multiple observers is proposed for the purpose of the loosening detection to the fastened screw for the driving joint and forearm. Numerical simulation indicate the results to verify the effectiveness of the proposed method.
