DocumentCode :
2655790
Title :
Simulation and control of reconfigurable modular robot arm based on close-loop real-time feedback
Author :
Zhou, Jun ; Yu, Yueqing
Author_Institution :
Coll. of Mech. Eng. & Appl. Electron. Technol., Beijing Univ. of Technol., Beijing, China
Volume :
3
fYear :
2010
fDate :
16-18 April 2010
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.
Keywords :
closed loop systems; feedback; manipulators; open loop systems; Optotrak3020 measurement system; PowerCube reconfigurable modular robot system; close-loop real time feedback; integral assembly error; joint flexibility; motion simulation; motor encoder; open-loop approach; reconfigurable modular robot arm; robotic control methods; Error correction; Feedback; Motion control; Motion measurement; Open loop systems; Power system modeling; Real time systems; Robot control; Robot motion; Robotic assembly; optotrak measurement system; powercube module; real-time feedback; reconfigurable modular robot;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computer Engineering and Technology (ICCET), 2010 2nd International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4244-6347-3
Type :
conf
DOI :
10.1109/ICCET.2010.5485759
Filename :
5485759
Link To Document :
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