Research On Dynamics And Self-Adaptive Control Of Modular Reconfigurable Robot

Reconfigurable modular robot is composed of a series of standard modules which can be viewed as joints and joining beams.Because of the connectivity and interchangeability of the modules,the overall configuration of the robot and the forms of motion can be changed and expanded through modules' connection and separation.According to different working requirement,the working range of the reconfigurable robot can be widely expanded through various forms of reconstruction.In addition,the modular design method can not only reduces the cost of industrial production and manufacture,but also can improve the fault-tolerant ability and automatic repair ability in the case of sudden failure,which makes the maintenance of the robot convenient.So the reconfigurable robot has a good application prospect in the field of industrial robots,which is becoming a popular research field.After the reconstruction,the kinematic parameters and dynamic parameters have changed.This paper mainly discusses the design of self-adaptive controller,the generation algorithm of the kinematic model and dynamic model.By using the index-product formula and Newton-Euler method,the direct kinematic equation and the dynamic equation of the reconfigurable robot have been derived under the single stranded circumstance.Because of the universality of this method,it can be applied to the reconfigurable robot which has a single chain.Considering the model error of the dynamic equation,the friction force and external disturbance,a kind of fuzzy algorithm has been proposed to approach.And to improve the anti-jamming capability of the system,the robust has been introduced to make up the model error.According to the variation of the topological configuration in different tasks,a kind of neural network compensation controller has been designed.In order to guarantee the stability of the closed-loop system,the self-adaptive control rate of the parameters of the network rights on the basis of Lyapunov Stability Theory has been designed.Finally,by the simulation results of different configuration of the modular robot,the effectiveness and reliability of the two kinds of self-adaptive methods have been verified.