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Modeling of Reconfigurable Modular Redundant Robotic Systems
Author(s) -
Oberhuber Bernhard,
Gattringer Hubert,
Bremer Hartmut,
Simons Florian
Publication year - 2011
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201110022
Subject(s) - modular design , actuator , robot , projection (relational algebra) , computer science , representation (politics) , harmonic drive , control theory (sociology) , control engineering , dc motor , engineering , control (management) , artificial intelligence , algorithm , electrical engineering , politics , political science , law , operating system
This paper deals with the dynamical modeling and control of modular redundant robots. The robots under consideration consist of modular actuators (brushless DC motors with Harmonic Drive gears) connected by rigid links. Different configurations can be designed by rearranging these subsystems. In order to fulfill the requirement for an efficient dynamical modeling, the Projection Equation in subsystem representation is used. The subsystems are connected via the kinematical chain. The Projection Equation offers the possibility to calculate the minimal accelerations recursively, leading to an O(n) computational effectiveness. To validate the proposed method, the model of an articulated robot arm with seven joints is considered. Simulation results are compared to measurements. (© 2011 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)