In this work, Artificial Neural Networks are employed in a Fault Detection and Isolation scheme for robotic manipulators. Two networks are utilized: a Multilayer Perceptron is employed to reproduce the manipulator dynamical behavior, generating a res

The Adaline is essentially a single-layer backpropagation network. It is trained on a pattern recognition task, where the aim is to classify a bitmap representation of the digits 0-9 into the corresponding classes. Due to the limited capabilities of