ROBOMECH Journal

Table 1 Specifications of experimental plant

From: Active fault-diagnosis method using adaptive allocator and fault-tolerant adaptive control system design

Component	Element	Specification
First actuator (Act. 1)	Motor	Maxon DC motor RE40
First actuator (Act. 1)	Amplifier	Maxon ESCON50/5
Second actuator (Act. 2)	Motor	Maxon DC motor RE25
Second actuator (Act. 2)	Amplifier	Maxon ESCON50/5
Sensor	Encoder	MUTOH UN-1000

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