Automatically Deployable Robust Control of Modular Reconfigurable Robot Manipulators

We propose an automatically deployable robust control scheme for modular reconfigurable robot manipulators, which accounts noisy velocity measurements, yet it maximizes the tracking performance while avoiding chattering effects. Our proposed approach adapts to any of possible compositions given sets modules. The stability is guaranteed by exploiting use a recursive Newton-Euler with interval arithmetic computations. Moreover, maximized via online regulation parameters analyzing power spectral density commanded torque signal. Being fully automatic, allows quick deployment and reconfiguration manipulators. algorithm validated simulations experiments on commercially available robot.