Unified Control System for Modular Reconfigurable Robots

Abstract

This article describes the process of creating a modular reconfigurable robot based on a unified control system using FPGAs and Ethernet PowerLink protocol. The basis of the theoretical framework was the analysis of world approaches and practical solutions in this area, using the results of previous studies and developments of the authors. Particular attention is paid to the work of the onboard-distributed power supply system. As a result, a control board and software for it were implemented, a system of reconfigurable robots was created from several modules using the FischerTechnik construction set. Experimental studies of the developed solutions for the implementation of a modular reconfigurable robot have been carried out, proving their efficiency and effectiveness compared with similar solutions.