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Research on the Fault Diagnosis Method of the Reconfigurable Modular Robot Based on Second-Order Sliding Mode Observer

This paper was concerned with the fault diagnosis method based on the second-order sliding mode observer (SOSMO) for reconfigurable modular robot systems with joint friction. The residual signal between given threshold and output of the SOSMO are utilized to directly and effectively detect the fault of reconfigurable modular robot. The stability of the SOSMO is proved by using Lyapunov stability theory. In order to demonstrate the effectiveness of the proposed method, two different 2-DOF reconfigurable modular robots are employed for simulation.