Modeling of Reconfigurable Modular Redundant Robotic Systems

Bernhard Oberhuber; Hubert Gattringer; Hartmut Bremer; Florian Simons

Modeling of Reconfigurable Modular Redundant Robotic Systems

Bernhard Oberhuber
, Hubert Gattringer
, Hartmut Bremer
, Florian Simons

Institute of Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

Abstract

This paper deals with the dynamical modeling and control of modular redundant robots. The robots under consideration con-sist of modular actuators (brushless DC motors with Harmonic Drive gears) connected by rigid links. Different conﬁgurations can be designed by rearranging these subsystems. In order to fulﬁll the requirement for an efﬁcient dynamical modeling, the Projection Equation in subsystem representation is used. The subsystems are connected via the kinematical chain. The Projection Equation offers the possibility to calculate the minimal accelerations recursively, leading to an O(n) computa-tional effectiveness. To validate the proposed method, the model of an articulated robot arm with seven joints is considered. Simulation results are compared to measurements.

Original language	English
Title of host publication	Special Issue: 82nd Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM)
Publisher	Wiley‐VCH Verlag GmbH
Pages	61-62
Number of pages	2
Volume	1
Publication status	Published - Dec 2011

Fields of science

203022 Technical mechanics
203013 Mechanical engineering
202035 Robotics
203015 Mechatronics

JKU Focus areas

Mechatronics and Information Processing

Cite this

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title = "Modeling of Reconfigurable Modular Redundant Robotic Systems",

abstract = "This paper deals with the dynamical modeling and control of modular redundant robots. The robots under consideration con-sist of modular actuators (brushless DC motors with Harmonic Drive gears) connected by rigid links. Different conﬁgurations can be designed by rearranging these subsystems. In order to fulﬁll the requirement for an efﬁcient dynamical modeling, the Projection Equation in subsystem representation is used. The subsystems are connected via the kinematical chain. The Projection Equation offers the possibility to calculate the minimal accelerations recursively, leading to an O(n) computa-tional effectiveness. To validate the proposed method, the model of an articulated robot arm with seven joints is considered. Simulation results are compared to measurements.",

author = "Bernhard Oberhuber and Hubert Gattringer and Hartmut Bremer and Florian Simons",

year = "2011",

month = dec,

language = "English",

volume = "1",

pages = "61--62",

booktitle = "Special Issue: 82nd Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM)",

publisher = "Wiley‐VCH Verlag GmbH",

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Modeling of Reconfigurable Modular Redundant Robotic Systems. / Oberhuber, Bernhard; Gattringer, Hubert ; Bremer, Hartmut et al.
Special Issue: 82nd Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM). Vol. 1 Wiley‐VCH Verlag GmbH, 2011. p. 61-62.

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

TY - GEN

T1 - Modeling of Reconfigurable Modular Redundant Robotic Systems

AU - Oberhuber, Bernhard

AU - Gattringer, Hubert

AU - Bremer, Hartmut

AU - Simons, Florian

PY - 2011/12

Y1 - 2011/12

N2 - This paper deals with the dynamical modeling and control of modular redundant robots. The robots under consideration con-sist of modular actuators (brushless DC motors with Harmonic Drive gears) connected by rigid links. Different conﬁgurations can be designed by rearranging these subsystems. In order to fulﬁll the requirement for an efﬁcient dynamical modeling, the Projection Equation in subsystem representation is used. The subsystems are connected via the kinematical chain. The Projection Equation offers the possibility to calculate the minimal accelerations recursively, leading to an O(n) computa-tional effectiveness. To validate the proposed method, the model of an articulated robot arm with seven joints is considered. Simulation results are compared to measurements.

AB - This paper deals with the dynamical modeling and control of modular redundant robots. The robots under consideration con-sist of modular actuators (brushless DC motors with Harmonic Drive gears) connected by rigid links. Different conﬁgurations can be designed by rearranging these subsystems. In order to fulﬁll the requirement for an efﬁcient dynamical modeling, the Projection Equation in subsystem representation is used. The subsystems are connected via the kinematical chain. The Projection Equation offers the possibility to calculate the minimal accelerations recursively, leading to an O(n) computa-tional effectiveness. To validate the proposed method, the model of an articulated robot arm with seven joints is considered. Simulation results are compared to measurements.

M3 - Conference proceedings

VL - 1

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EP - 62

BT - Special Issue: 82nd Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM)

PB - Wiley‐VCH Verlag GmbH

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