Vibration is an essential indicator that reflects the robust status of industrial robots. To improve the detection effect and resilience for articulated industrial robot in-situ, a novel non-invasive self-diagnostic method is proposed. Feasible embedded motor current is used to calculate the extended Teager indicator at a low sampling rate. Compared with common Teager and other indicators, both theoretical analysis and experimental data indicate the effectiveness and robustness of the proposed method.
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