Nonlinear dynamics tools for the motion analysis and condition monitoring of robot joints

I. Trendafilova, H.H. Van Brussel

Research output: Contribution to journalArticle

51 Citations (Scopus)


Time series from non-damaged and three types of damaged robot joints are considered and analysed from the viewpoint of non-linear dynamics. The embedding spaces for the four types of signals are recovered. The application of surrogate data tests is used to prove the presence of non-linearities in the joints. The results suggest a rise in unstable behaviour due to the introduction of backlash in robot joints. The chaotic behaviour gets stronger with the increase of the backlash extent. This is confirmed by the increase of the embedding dimension as well as by the increase of the Lyapunov exponents and the correlation dimension with the backlash increase. A straightforward method for condition monitoring using non-linear dynamics characteristics, based on a classification procedure, is suggested.
Original languageEnglish
Pages (from-to)1141-1164
Number of pages23
JournalMechanical Systems and Signal Processing
Issue number6
Publication statusPublished - 2001



  • robots
  • condition analysis
  • mechanical engineering
  • robotics
  • nonlinear dynamic tools

Cite this