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The main construction method of building wall is artificial masonry, the main problem is that the process is associated with low construction efficiency and poor safety, workers are prone fall from high altitude. The research of automatic masonry robot has become an urgent need. The masonry mechanical arm system is the main executing part of the masonry robot, special attention should be paid to the robot fault. Therefore, it is necessary to establish a suitable model to detect the actuator faults of the manipulator system. In this paper, a dynamic model of manipulator fault is presented and a fault detection scheme of masonry robot manipulator arm is proposed based on the model. The model is simplified by analyzing the state parameters of each joint during robot masonry and the interval observer with more design freedom was designed based on the established mathematical model of actuator faults. In this paper, a joint method for solving S and L matrices is proposed, which avoids the limitation of the traditional method for solving L matrices by twostep. In the presence of external interference, l 1 /H ∞ performance are introduced into the generation process of residual interval, and the interval observer has better disturbance robustness and fault sensitivity. Simulation experiments verify that the scheme can effectively detect the actuator fault of the manipulator, and experiments are carried out on a 6-axis manipulator. The experimental results show that when actuator faults occur at joints 2 and 3, the residual rapidly exceeds the threshold range, which proves the effectiveness of the fault detection scheme designed in this paper.

This paper solves the leader-following consensus problem for a class of second-order multi-agent systems with input quantized by a newly proposed adaptive dynamic quantizer. The novel dynamic quantizer is an adaptive quantizer that combines the logarithmic quantizer and the uniform quantizer by introducing dynamic gain parameters to achieve quantizer adaptive adjustment. It has advantages of logarithmic, uniform, and adaptive dynamic quantizers in ensuring reducible communication expenses and acceptable quantizer errors for better system performance. On this basis, we transform the guide way climbing frame (GWCF) under ideal conditions into a second-order multi-agent system and solve the motion synchronization problem of GWCF. Finally, we illustrate our approach by numerical examples.