Final answer:
Richard failed during the Authorization stage after successful Identification and Authentication as he was denied access, indicating lack of necessary permissions.
Step-by-step explanation:
Richard failed at the Authorization stage of the access control process. After successfully completing the Identification by providing his username and the Authentication with his password and biometric scan, he was denied access when he attempted to open the door. This indicates that while the system recognized his identity and authenticated that identity, his specific user profile does not have the necessary permissions or rights to access the door, which is part of the Authorization process.