Home // ADAPTIVE 2012, The Fourth International Conference on Adaptive and Self-Adaptive Systems and Applications // View article

Self-Adaptive Framework for Modular and Self-Reconfigurable Robotic Systems

Authors:
Eugen Meister
Alexander Gutenkunst

Keywords: multi-body kinematics and dynamics; self-adaptive systems; automatic model generator.

Abstract:
In this paper, we introduce a framework for automatic generation of dynamic equations for modular selfreconfigurable robots. The equations for kinematics and dynamics are generated recursively in two steps by using geometrical formulations and recursive Newton-Euler method. This framework has the purpose to analyse the kinematics and dynamics for serial as well as for branched multibody robot topologies with different dyad structures. A multi-functional and easy to use graphical interface provides functionalities such assembling of topologies, visual feedback of trajectories and parameters editing. Two benchmark examples show, that the proposed framework results coincide with the results produced by classical Lagrangian method.

Pages: 30 to 37

Copyright: Copyright (c) IARIA, 2012

Publication date: July 22, 2012

Published in: conference

ISSN: 2308-4146

ISBN: 978-1-61208-219-6

Location: Nice, France

Dates: from July 22, 2012 to July 27, 2012