This paper focuses on a 4-mecanum wheeled mobile robot used for transportation tasks in manufacturing industry. It aims to supervise the health state of the robot actuators after a first detection of faults, and to study the faults impact on the robot behavior. As faults are considered the loss of actuators efficiency due to wear linked to the robot high solicitation. The main contribution is on the one hand the diagnosis of simultaneous actuator faults and on the other hand the impact study of these faults on the robot behavior to determine degradation limits which guarantee that the robot is still close to the desired performance. The objective is to provide to the user a decision-making support regarding whether (or not) the robot is still able to continue functioning with respect to security instructions imposed by its environment. Two main cases are dealt: 1) All the four-actuators lose from 0% (no fault) to 95% of their efficiency. 2) One actuator is completely defective (it loses 100 % of its efficiency), while the three-others lose from 0% to 95% of their efficiency. Different scenarios are tested to analyze the impact of the robot missions and the working conditions on its behavior under degradation.

本文重点介绍一种用于制造业运输任务的 4 麦克纳姆轮式移动机器人。其目的是在第一次检测到故障后监督机器人执行器的健康状态，并研究故障对机器人行为的影响。由于与机器人高请求相关的磨损，故障被认为是致动器效率的损失。主要贡献一方面是同时执行器故障的诊断，另一方面是这些故障对机器人行为的影响研究，以确定保证机器人仍然接近所需性能的退化极限。目标是向用户提供关于机器人是否仍然能够根据其环境强加的安全指令继续运行的决策支持。%（无故障）到 95 %的效率。2) 一个执行器完全有缺陷（它失去了 100 %的效率），而其他三个执行器的效率从 0 % 下降到 95 %。测试了不同的场景，以分析机器人任务和工作条件对其在退化情况下的行为的影响。