Self-Adaptive Framework for Modular and Self-Reconfigurable Robotic Systems

摘要

Abstract—In this paper, we introduce a framework for au-tomatic generation of dynamic equations for modular self-reconfigurable robots. The equations for kinematics and dynam-ics are generated recursively in two steps by using geometrical formulations and recursive Newton-Euler method. This frame-work has the purpose to analyse the kinematics and dynamics for serial as well as for branched multibody robot topologies with different dyad structures. A multi-functional and easy to use graphical interface provides functionalities such assembling of topologies, visual feedback of trajectories and parameters editing. Two benchmark examples show, that the proposed framework results coincide with the results produced by classical Lagrangian method. Keywords-multi-body kinematics and dynamics; self-adaptive systems; automatic model generator. I.