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2 edition of Development of hybrid architecture of the control system for modular and re-configurable robot (MRR) manipulators. found in the catalog.

Development of hybrid architecture of the control system for modular and re-configurable robot (MRR) manipulators.

Daqing Wang

Development of hybrid architecture of the control system for modular and re-configurable robot (MRR) manipulators.

by Daqing Wang

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  • 1 Currently reading

Published .
Written in English


About the Edition

Architecture forms the backbone of complete robotic control systems, and so should be fully studied before the system is built. The major purpose of this thesis is to provide insight and exclusive discussion on control system architecture of modular re-configurable robot manipulators, and thus led to further research into architectural requirements, tasks, specifications, structure, communication bus, and prototype implementation and test work.The hybrid architecture proposed here combines the merits of centralized and distributed controls. It has a centralized, supervisor-level controller and distributed, module-level controllers. Between them is the communication level for information exchange. The open, self-contained modular design and multiple control modes provide solid support for reconfigurability, and reactive control is introduced for first time into the manipulator control system architecture. The key factors in selecting communication buses and real-time operation systems are discussed. The architecture was tested on two MRR prototypes, and the results confirmed its validity.

The Physical Object
Pagination128 leaves.
Number of Pages128
ID Numbers
Open LibraryOL19551769M
ISBN 109780494212912

Continuing topics of interest include: development of a more distributed implementation of the computer control architecture, analysis of the dynamics of the Tetrobot system motion for improved control of high-speed motions, integration of sensor systems to control the motion and shape of the high-dimensionality systems, and exploration of self Reviews: 1. The nested reconfigurable robotic system is a set of modular robots with individual reconfiguration characteristics that combine to form, for instance, a more complex robot mechanism suitable for performing specific tasks that are far from the capabilities of a single robot module.

  Reconfigurable Control Architecture for Distributed Systems in the HERO Autonomous Helicopter IEEE Transactions on Industrial Electronics, Vol. 58, No. 12 The software architecture of a reconfigurable real-time onboard control system for a small UAV helicopter. and manufacturing systems. Research Topics • Modular reconfiguration of products and systems. • Unified reconfigurable open architecture control. • Concurrent bi-directional, hierarchical and intelligent supervisory control. • Reactive, deliberative and hybrid control. • Real-time control of products and systems with Hardware-in-the.

This paper presents a hybrid control architecture for autonomous robotic fishes which are able to swim and navigate in unknown or dynamically changing environments. It has a three-layer configuration: cognitive layer, behaviour layer and swim pattern layer. The state-based planning in the cognitive layer provides a good foundation for potential adaptation through machine learning methods such. An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. Joint Space Position/Torque Hybrid Control of the Quadruped Robot for Locomotion and Push Reaction. Development of a Robotic System for Automated Decaking of 3D-Printed Parts;.


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Development of hybrid architecture of the control system for modular and re-configurable robot (MRR) manipulators by Daqing Wang Download PDF EPUB FB2

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.

Modular self-reconfigurable robotic systems can be generally classified into several architectural groups by the geometric arrangement of their units.

Several systems exhibit hybrid properties. Lattice Architectures:Lattice architectures have units that are arranged and connected in. According to the mathematical model of the mechatronics integration of the flexible robot joint, a modular joint structure is proposed.

The factors, which influence the stability of the whole modular mechanical and electrical system bandwidth, are analyzed by force/position hybrid control Cited by: 1.

To control the locomotion and self-reconfiguration modes of the developed robot, we have designed an Android application using Android Studio in Java. A Bluetooth module (HC) with a band frequency of GHz is used to communicate with the robot.

The system architecture of the sTetro robot is illustrated in Figure by: 7. Daqing Wang, (), Developmentn of hybrid architecture of the control system for modular and reconfigurable robot(MRR) manipulators, University of Toronto.

Modular self-reconfiguring robotic systems or self-reconfigurable modular robots are autonomous kinematic machines with variable conventional actuation, sensing and control typically found in fixed-morphology robots, self-reconfiguring robots are also able to deliberately change their own shape by rearranging the connectivity of their parts, in order to adapt to new.

and in manufacturing systems (Chen ; ). In the control and simulation of a modular reconfigurable robot system, pre-cise kinematic and dynamic models of the robot. SYSTEM ARCHITECTURE In this section we first describe a sensor-based control architecture that is the basis for our longer ranging development of modular and reconfigurable robotic systems.

We then overview our ongoing development of a fused state estimator and. Modular self-reconfigurable robots present wide and unique solutions for growing demands in the domains of space exploration, automation, consumer products, and so forth. The higher utilization factor and self-healing capabilities are most demanded traits in robotics for real world applications and modular robotics offer better solutions in these perspectives in relation to traditional robotics.

conceived architecture can have many advantages in the specification, execution, and validation of robot systems. An architecture should facilitate the development of robotic systems by providing beneficial constraints on design and implementation of the.

4. Conclusion and Outlook This paper presents a new approach for an architecture of a control system for a modular production system (MPS). The control system reconfigures itself automatically if process modules have changed. The control system follows a hierarchical structure with a Workflow Manager (WFM) as master and the controls of each.

; DOI: /ROBOT Distributed control for a modular, reconfigurable cliff robot @article{PirjanianDistributedCF, title={Distributed control for a modular, reconfigurable cliff robot}, author={Paolo Pirjanian and Chris Leger and Erik Mumm and Brett Kennedy and Michael Garrett and Hrand Aghazarian and Shane Farritor and Paul S.

Schenker}, journal={Proceedings IEEE. One important development in robot electronics that is especially helpful for series-parallel hybrid robots are decentralized or distributed processing and control architectures.

This section presents a study of different electronics architectures that are used in such systems and how they support their modular design and distributed control.

Branch modules are instead, reconfigured from an unconstrained-active to a constrained-passive state by means of hybrid active/passive motors and reconfigurable universal-to-revolute joints. In doing so, the robot is capable of assuming a configuration in which the number of task-based degrees-of-freedom match the number of controllable.

Patented with the name Bicept, the robot is the two-dimensional version of the Tricept robot and is designed as a reconfigurable module that can readily be integrated with 1-dof feed mechanism or a fixed base in order to form a set of reconfigurable robots with parallel-serial architecture.

Development and implementation of novel on-board wireless real-time sensor/actuator control interfaces for the hybrid mobile robot. Construction and integration of a prototype of the hybrid mobile robot system including the development of a computer architecture and control system design.

Making the assembly and configuration on the information layer (Selig, ) of a manufacturing cell as easy as possible, is the ambition of this research. figure 3 shows a comparison between the state of the art communication architecture in a robotized manufacturing cell and the desired architecture for a reconfigurable manufacturing system.

This book covers a wide range of topics relating to advanced industrial robotics, sensors and automation technologies. Although being highly technical and complex in nature, the papers presented in this book represent some of the latest cutting edge technologies and advancements in industrial robotics technology.

Terada, Y.; Murata, S. () “ Automatic modular assembly system and its distributed control ”. The International Journal of Robotics Research, 27(3–4): – SAGE Publishing: March/Aprildoi: / Chapter 4 describes design issues of two modular re-configurable parallel robots, classical parallel manipulators and cable-driven ones.

A design case of a re-configurable cable-driven parallel robot is featured. Chapter 5 addresses the safe strategies, risk control mechanisms, and corresponding design solutions of human-centered robots.

Other work that focuses on the development of low-level reconfigurable robots includes the work of Sanderson at RPI in which a modular reconfigurable parallel robot was designed [13] and Khosla at CMU, whose team developed the I-Cubes system, a self-reconfigurable system consisting of a collection of independently controlled mechatronic links."An Agent-based Reconfigurable System-on-chip Architecture for Real-Time Systems", The 2nd International Conference on Embedded Software and Systems (ICESS ).

Y. Meng. (). "A Dynamic Self-Reconfigurable Mobile Robot Navigation System", IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM).Advances in Reconfigurable Mechanisms and Robots I provides a selection of key papers presented in The Second ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR ) held on 9 th th July in Tianjin, China.

This ongoing series of conferences will be covered in this ongoing collection of books. A total of seventy-eight papers are divided into seven parts.