A virtual decomposition control based communication network for modular robots applications

摘要

Modular (re-configurable) robots have been studied and developed over two decades. Compared to common industrial robot manipulators, modular robots usually end up showing relatively poorer control performance. This is mainly because most of modular robots' designs typically concentrate on mechatronic interfaces, packaging and re-configurable features, leaving little space for dynamics and control considerations. In our current research frame, we are looking at "virtual decomposition control" (VDC) to significantly improve modular robots dynamics and control performance. A key element to successful implementation of the related algorithms has to do with the inter-modules communication link capabilities. Presented here is the first 2 DOF prototype built to demonstrate the feasibility of implementing VDC on a real system, including the Spacewire Bus based communication protocol used.