Modeling of Reconfigurable Modular Redundant Robotic Systems
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Special Issue: 82nd Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM)
This paper deals with the dynamical modeling and control of modular redundant robots. The robots under consideration con-sist of modular actuators (brushless DC motors with Harmonic Drive gears) connected by rigid links. Different con?gurations
can be designed by rearranging these subsystems. In order to ful?ll the requirement for an ef?cient dynamical modeling,
the Projection Equation in subsystem representation is used. The subsystems are connected via the kinematical chain. The
Projection Equation offers the possibility to calculate the minimal accelerations recursively, leading to an O(n) computa-tional effectiveness. To validate the proposed method, the model of an articulated robot arm with seven joints is considered.
Simulation results are compared to measurements.