NDLI: Simulation and control of reconfigurable modular robot arm based on close-loop real-time feedback

Content Provider	IEEE Xplore Digital Library
Author	Jun Zhou Yueqing Yu
Copyright Year	2010
Description	Author affiliation: College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, China (Jun Zhou; Yueqing Yu)
Abstract	Reconfigurable modular robot is a new aspect in the development of robotics. Compared with the traditional robots, a lot of attentions have been paid to the advantages of the reconfigurable modular robot, such as the variety of structure and the adaptability to the complicated environment. At present, most robotic control methods only use the feedback of motor encoder, not use the feedback of actual end-position of robot arm. However, due to the joint flexibility and integral assembly error, the control accuracy of robot arm is not high only according to the motor feedback. Therefore, this control method is the open-loop approach. In this study, a PowerCube reconfigurable modular robot system is presented with motion simulation and control of close-loop real-time feedback using Optotrak3020 measurement system. The mechanical and electrical layout of PowerCube module robot, the robot motion model, the control concept and implementation of close-loop real-time feedback are investigated respectively. Finally, through a 3D simulation and experiment of modular robot arm for grasping a cup and pumping water, the feasibility and applicability of this control strategy are verified.
File Size	697390
File Format	PDF
ISBN	9781424463473
e-ISBN	9781424463497
DOI	10.1109/ICCET.2010.5485759
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-04-16
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Real time systems Robot control optotrak measurement system Open loop systems powercube module Motion measurement Power system modeling real-time feedback Robotic assembly Robot motion Feedback Error correction reconfigurable modular robot Motion control
Content Type	Text
Resource Type	Article

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