ROBMAT: Teleoperation of a Modular Robot for Collaborative Manipulation

  • Authors:

  • Juan A. Escalera;Manuel Ferre;Rafael Aracil;José Baca

  • Affiliations:

  • Dpto. Automática, Ing. Electrónica, e Inf. Industrial, Universidad Politecnica de Madrid, C/. José Gutierrez Abascal,2, Madrid, Spain;Dpto. Automática, Ing. Electrónica, e Inf. Industrial, Universidad Politecnica de Madrid, C/. José Gutierrez Abascal,2, Madrid, Spain;Dpto. Automática, Ing. Electrónica, e Inf. Industrial, Universidad Politecnica de Madrid, C/. José Gutierrez Abascal,2, Madrid, Spain;Dpto. Automática, Ing. Electrónica, e Inf. Industrial, Universidad Politecnica de Madrid, C/. José Gutierrez Abascal,2, Madrid, Spain

  • Venue:
  • KES '07 Knowledge-Based Intelligent Information and Engineering Systems and the XVII Italian Workshop on Neural Networks on Proceedings of the 11th International Conference
  • Year:
  • 2007

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Abstract

The present paper describes the architecture of a modular robot called RobMAT. A module description which includes both hardware and software features are shown. The module has 3 DoF which gives great functionality to the module. The connection between modules forms molecules. The simplest molecule is called base with 5 DoF. Channels of communication between modules (CAN bus) and molecules (Bluetooth) are also described. A method in representing molecule configurations based on Graph Theory is explained. This method allows developing algorithm for dynamically changing-robots such as modular robots. It also explains how the molecule is allowed to act as a whole synchronization algorithm. Finally a collaborative manipulation task, which is teleoperated, is shown. Elements involve in teleoperation are also described.