Home // International Journal On Advances in Intelligent Systems, volume 6, numbers 1 and 2, 2013 // View article

Dynamics and Control of Modular and Self-Reconfigurable Robotic Systems

Authors:
Eugen Meister
Alexander Gutenkunst
Paul Levi

Keywords: multi-body kinematics and dynamics, self-adaptive systems, automatic model generator, adaptive control

Abstract:
In this paper, we introduce a framework for automatic generation of dynamic equations for modular selfreconfigurable robots and investigate a few adaptive control strategies. This framework enables to analyse the kinematics, dynamics and control for both, serial and branched multi-body robot topologies with different dyad structures. The equations for kinematics and dynamics are automatically generated using geometrical formulation methods and recursive Newton-Euler method. Different benchmarks examples are used to evaluate serial and branched robot configurations. As control strategies, computed torque method linearisation method together with Extended Kalman Filter estimator are used. A graphical tool has been developed, that enables easy to use interface and functionalities such as graphically selecting of robot topologies, visual feedback of trajectories and parameters editing.

Pages: 66 to 78

Copyright: Copyright (c) to authors, 2013. Used with permission.

Publication date: June 30, 2013

Published in: journal

ISSN: 1942-2679