Parameter estimation for online condition monitoring of robotic machines

This paper proposes a novel learning approach to online condition monitoring of robotic machines. The real-time learning process comprises three stages, domain knowledge defining, random learning and ordinal learning. Domain knowledge defining abstracts the model of a robotic machine; random learning and ordinal learning stages train the parameters of the abstract model with random data selection and ordinal data selection, respectively. Simulation results have proved that the pro-posed method is efficient and feasible for online fault diagnosis of robotic machines.