Automatic centralized controller design for modular and reconfigurable robot manipulators

Andrea Giusti, Matthias Althoff

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

25 Scopus citations

Abstract

We address the problem of controlling modular robot manipulators. The challenge of modular-robot control is that the overall system dynamics are unknown due to its flexible composition from given modules. Most previous work has faced this problem by designing decentralized controllers. Simple decentralized controllers do not guarantee global asymptotic stability without knowledge of the overall system dynamics and alternative versions involving communication with neighboring modules result in complicated control concepts. Our approach is completely different: we store parameters regarding the dynamics and kinematics of each module and a unique identification number in itself. After finishing the assembly of the modules, the parameters are gathered in a central controller, which also detects the configuration using the identification numbers. Our centralized controller uses this information to synthesize model-based control laws on-the-fly as if the full system dynamics are known beforehand. We introduce a novel and compact notation to automate this procedure and to generalize the derivation of the kinematic and dynamic model for heterogeneous modules. Finally, a possible application is shown using simulations.

Original languageEnglish
Title of host publicationIROS Hamburg 2015 - Conference Digest
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3268-3275
Number of pages8
ISBN (Electronic)9781479999941
DOIs
StatePublished - 11 Dec 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: 28 Sep 20152 Oct 2015

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2015-December
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Country/TerritoryGermany
CityHamburg
Period28/09/152/10/15

Fingerprint

Dive into the research topics of 'Automatic centralized controller design for modular and reconfigurable robot manipulators'. Together they form a unique fingerprint.

Cite this