Research On Dynamics And Control Of Reconfigurable Modular Robot

Reconfigurable modular robot is an intelligentized one that can change its configuration according to variant tasks. The best configuration can be assembled by a set of modules with different functions and dimensions. Not only mechanical system can be reconfigured, but also control system. Because modern industrial production and scientific trial's task is no longer constant, the reconfigurable robot is needed which can greatly bring down the cost and increase efficiency. The path control, dynamical and control method of the reconfigurable robot are mainly studies in this paper.First, the tragectory planning of the reconfigurable robot is studied in this paper. Linear and circular is main research in this paper. Given start point and end point, the angle and angular velocity are calculated by the calculating program.Second, dynamics of the reconfigurable robot is studied. Usually, configuration must be known in dynamical modeling. In this paper, an auto modeling method is used. Then dynamical equation can be established in Newton-Ruler equation. The velocity and acceleration of each joint can be calculated by forward iteration while the torque and force can also be calculated by backward iteration.Third, the communication and control system of reconfigurable robot is discussed. The control method of the reconfigurable robot is distributed control based on Agent, which distributes concentrated robot to a set of joint Agent which controls one joint. This method can be applied to robot system with variant configurations, especially for the control of the reconfigurable robot. And the single joint is controlled by PID position control algorithm.At last, not only correctness and applicability on kinetics, kinetics theory and control method are verified by the experiment, but also reliability of the whole mechanical system, control system and communication system.