  This paper demonstrates the viability of perfectly undetectable affine
transformation attacks against robotic manipulators where intelligent attackers
can inject multiplicative and additive false data while remaining completely
hidden from system users. The attacker can implement these communication line
attacks by satisfying three Conditions presented in this work. These claims are
experimentally validated on a FANUC 6 degree of freedom manipulator by
comparing a nominal (non-attacked) trial and a detectable attack case against
three perfectly undetectable trajectory attack Scenarios: scaling, reflection,
and shearing. The results show similar observed end effector error for the
attack Scenarios and the nominal case, indicating that the perfectly
undetectable affine transformation attack method keeps the attacker perfectly
hidden while enabling them to attack manipulator trajectories.
