Research And Design Of Modular Reconfigurable Robot Control System

Modular reconfigurable robots which have advantages of simple structure,powerful function, high stability and more significant characteristics on theexternal structure, is a frontier branch of modern robot development. Themodular reconfigurable robot has become a hot issue in today’s world roboticsresearch. Its purpose is that the robot divides into separate function module onthe relevant principles of the robot structure by the different types and differentexperiments task and project requirements, assembles different robot structureaccording to specific occasions or a specific task. Robot is directly related to thedifferent structure of the configuration of the intensity of work ability andperformance, so it require time to construct different robot external structureaccording to the different environmental conditions and different tasks. And howto quick construct the actual status of the robot configuration changes and rapiddetermine its kinematics model, has become particular important.According to the concept of modular and reconfigurable, this paper designsto achieve the user can through the structure reconfigurable play to completedifferent tasks require joint type robot through the different joint module and ashaft lever module as the basic parts of a modular robot system module. Eachjoint module has ability to independent control and shaft lever module is theadjacent joint modules interconnected units. In the paper, it proposes thedifferent joint type robot kinematics model, and analyses the positive and inversekinematics of robot by using D-H method on the joint model for the structure andkinematics of the robot modeling analysis.This paper first introduces modular reconfigurable robot dynamic analysisof the research status of the robot at home and abroad, and thus the purpose andsignificance of this study project are proposed. Secondly, the modularreconfigurable robot hardware structure and structural parameters are discussed in detail and realization of the key technologies of the control system, throughthe Cartesian coordinate system to establish the mathematical model of the robot,its reconstructed the different structure of the robot forward and inversekinematics of the specific analysis and solving, in order to achieve therequirements of the different tasks. Lastly, robot trajectory planning andtrajectory tracking problem are elaborated, describes the joint space law andCartesian space law the path interpolation algorithm, obtained each intermediatenode coordinates, planning a trajectory through small brain network with thetrajectory of the robot motion tracking control of articulated robot being aconcrete manifestation of inverse kinematics solutions in simulation duringexercise. Simulation and data analysis of experimental results prove that thesmall brain network algorithm is feasible valid in the trajectory tracking, andprovide some theoretical basis for robot trajectory tracking and planningoptimization, have good referential value.