Task-priority based redundancy control of robot manipulators
International Journal of Robotics Research
Designing fault-tolerant manipulators: how many degrees of freedom?
International Journal of Robotics Research
Tetrobot: a modular approach to reconfigurable parallel robotics
Tetrobot: a modular approach to reconfigurable parallel robotics
The self-reconfiguring robotic molecule: design and control algorithms
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
Cellular Robotics and Micro Robotics Systems
Cellular Robotics and Micro Robotics Systems
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Distributed reconfiguration of metamorphic robot chains
Distributed Computing
Journal of Intelligent and Robotic Systems
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Reconfigurable robotic systems can be adapted to different tasks or environments by reorganizing their mechanical configurations. Such systems have many redundant degrees of freedom in order to meet the combined demands of strength, rigidity, workspace kinematics, reconfigurability, and fault tolerance. In order to implement these new generations of robotic system, new approaches must be considered for design, analysis, and control. This paper presents an efficient distributed computational scheme which computes the kinematics, dynamics, redundancy resolution, and control inputs for real-time application to the control of the Tetrobot modular reconfigurable robots. The entire system is decomposed into subsystems based on a modular approach and Newton's equations of motion are derived and implemented using a recursive propagation algorithm. Two different dynamic resolution of redundancy schemes, the centralized Jacobian method and the distributed virtual force method, are proposed to optimize the actuating forces. Finally, distributed dynamic control algorithms provide an efficient modular implementation of the control architecture for a large family of configurations.