Dynamic analysis and distributed control of the tetrobot modular reconfigurable robotic system

Citation
Wh. Lee et Ac. Sanderson, Dynamic analysis and distributed control of the tetrobot modular reconfigurable robotic system, AUTON ROBOT, 10(1), 2001, pp. 67-82
Citations number
38
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
AUTONOMOUS ROBOTS
ISSN journal
09295593 → ACNP
Volume
10
Issue
1
Year of publication
2001
Pages
67 - 82
Database
ISI
SICI code
0929-5593(200101)10:1<67:DAADCO>2.0.ZU;2-A
Abstract
Reconfigurable robotic systems can be adapted to different tasks or environ ments by reorganizing their mechanical configurations. Such systems have ma ny redundant degrees of freedom in order to meet the combined demands of st rength, rigidity, workspace kinematics, reconfigurability, and fault tolera nce. In order to implement these new generations of robotic system, new app roaches must be considered for design, analysis, and control. This paper pr esents an efficient distributed computational scheme which computes the kin ematics, dynamics, redundancy resolution, and control inputs for real-time application to the control of the Tetrobot modular reconfigurable robots. T he entire system is decomposed into subsystems based on a modular approach and Newton's equations of motion are derived and implemented using a recurs ive propagation algorithm. Two different dynamic resolution of redundancy s chemes, the centralized Jacobian method and the distributed virtual force m ethod, are proposed to optimize the actuating forces. Finally, distributed dynamic control algorithms provide an efficient modular implementation of t he control architecture for a large family of configurations.