Abstract:
This paper focuses at the dynamic modeling of a modular reconfigurable manipulators. Dynamic model of the manipulator changes
with each reconfigured posture and therefore, control implication
on this type of robotic arm changes. Adaptability of the dynamic
model and controller to incorporate this change is a challenge. Idea
of re-configurable robot is presented here to address the issue of
customized robotic arms. These modular robots can be deployed
quickly on site. In this work, architectural parameters of the reconfigurable modules, which affect significantly in the dynamics of the
manipulator, are identified and the inertial parameters of the modules are approximated using the concept of equimomental system.
Considerations of parameters in dynamic modeling after assembly of the heterogeneous modules are introduced. Euler-Lagrange
formulation is used while formulating the equation of motion. Finally, a control simulation is shown for a 4 degrees-of-freedom(dof)
modular configuration.
