The Application of FTA in Fault Diagnosis of Robot

Abstract

This paper firstly introduces the structure of an autonomous mobile robot,and analyses the common faults according to the features of subsystems.Then based on the related theory of FTA,the fault-tree model of robot is built,and the quantitative analysis of faults that take place in the mobile robots is made.The match proves that the reasonable fault-tree model is in favor of the timely and effective clearing faults.