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On-the-Fly Control Design of Modular Robot Manipulators
- Source :
- IEEE Transactions on Control Systems Technology. 26:1484-1491
- Publication Year :
- 2018
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2018.
-
Abstract
- We consider the problem of automatically designing model-based controllers of modular robot manipulators in a systematic way. Modular robots are especially useful in flexible manufacturing, where one wishes to quickly assemble robots from a set of modules for temporary tasks. The evaluation of all possible dynamical models is typically impractical, undermining the implementation of model-based control laws. Contrary to most other work that approached this challenge by designing decentralized controllers, we generate on-the-fly model-based centralized controllers after a new robot has been assembled. In this brief, we extend the applicability of our previous work on this subject by considering both link and joint modules, assembly dependent friction effects, and we finally present experiments that validate the overall approach.
- Subjects :
- Self-reconfiguring modular robot
0209 industrial biotechnology
Robot kinematics
business.industry
Computer science
Control engineering
02 engineering and technology
Kinematics
Modular design
Robot end effector
ddc
law.invention
Robot control
Set (abstract data type)
020901 industrial engineering & automation
Control and Systems Engineering
law
0202 electrical engineering, electronic engineering, information engineering
Robot
020201 artificial intelligence & image processing
Electrical and Electronic Engineering
business
Subjects
Details
- ISSN :
- 15580865 and 10636536
- Volume :
- 26
- Database :
- OpenAIRE
- Journal :
- IEEE Transactions on Control Systems Technology
- Accession number :
- edsair.doi.dedup.....82db2803d6b4f6253735a4e00be7b7bf
- Full Text :
- https://doi.org/10.1109/tcst.2017.2707336