Proof of Concept of a Hyper Redundent Reconfigurable Modular Manipulator System

نویسندگان

  • Timothy Vittor
  • Richard Willgoss
  • Javaid Iqbal
چکیده

We present the results of a proof of concept implementation of a Hyper-Redundent Reconfigurable Modular Manipulator system (RMMS) in an attempt to validate the Modular Decentralized Control (MDC) technique in a real world environment. Hyper-redundancy enables flexibility in configuration space. Decentralized control of manipulators enables modular construction with its attendant ease of design and reduced cost. The need for a full environment reconstruction in one master controller is bypassed by having localized and simpler subgoals for each module. The manipulator has been designed with each clone module a selfcontained structure including mechanical hardware, actuators, microprocessors and motor controllers. Flange interfaces at both ends of a module allowed for ease in system reconfigurability. Each module had two rotational DOFs and formed part of an exemplar serial manipulator allowing for 3D end effector position and orientation control as determined from a combination of all module’s local actions. Test data from the environment in real time was transmitted to the first module via a stereo vision system. Each module in the system then took pseudo-independant control action, communicating through receiving and transmitting data between adjacent serial modules that formed a robot anthropic structure. The system also had the capability to avoid obstacles in real time by inclusion of bump sensors on each module. The results demonstrated the predicted fault-tolerant, robust nature of the control approach, achieving system flexibility and versatility. The MDC method is capable of extending across an extensive network of interconnected modules that would be limited more by mechanical configuration loading limitations, not communication issues. MDC has a full near world-wide patent covering its intellectual property.

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تاریخ انتشار 2007