Development of Control System Architecture for Modular and Re-configurable Robot Manipulators

摘要

Architecture forms the backbone of robotic control systems and has to be carefully studied before the system is built. In this paper, after insight and exclusive discussions on control system architecture requirements of modular and re-configurable robot manipulators are presented, a hybrid architecture is proposed and described in details. The proposed architecture has been implemented on a modular and reconfigurable robot, and the testing results show the validity of the proposed architecture.