NDLI: Modular Robot Manipulators Based on Virtual Decomposition Control

Content Provider	IEEE Xplore Digital Library
Author	Wen-Hong Zhu Lamarche, T.
Copyright Year	2007
Description	Author affiliation: Spacecraft Eng., Canadian Space Agency, Que. (Wen-Hong Zhu; Lamarche, T.)
Abstract	Modular or re-configurable robots have been studied and developed over two decades. Most researches focus on mechatronic interfaces and re-configurable capabilities. However, less attention has been paid to dynamics and control. Consequently, the control performance of a modular robot has never been comparable with an integrated robot, due to the lack of proper handling of the dynamic interactions among the modules. In this paper, the application of the virtual decomposition control to modular robot manipulators is discussed. A high-speed databus with a data rate of 100 Mbps is used for necessary information exchange among the modules. The dynamics based control is fully handled by the local embedded controllers, whereas the host computer handles the kinematics related computation. The stability of the entire robot is rigorously guaranteed. This research aims at giving the modular robots the comparable control performance as the integrated robots, while keeping the fundamental feasibilities such as low cost for mass production, high flexibility, and easy use and expansion.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	2235
Ending Page	2240
File Size	306314
Page Count	6
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.363652
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulator dynamics Robot control Embedded computing Mechatronics Application software Kinematics Stability Weight control Costs Mass production
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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