In this paper, a control design methodology for the new class of modular robots so-called “unidrive modular robots” is introduced. Unidrive modular robots because of employing only a single drive for operating all the joints have a substantial advantage over regular modular robots in terms of the mass of each module. The drive is mounted at the robot base and all joints tap power from the single drive using clutches. By controlling the engagement time of the clutches, the position and velocity of the joints are regulated. In this work, a general state space model of the robot is first developed and then based on the theory of variable structure systems and sliding mode control a design methodology for local controllers is introduced. The control design technique is validated by experimental results.
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December 2006
Technical Briefs
Unidrive Modular Robot: Dynamics, Control, and Experiments
Hamidreza Karbasi,
Hamidreza Karbasi
Department of Mechanical Engineering,
University of Waterloo
, Waterloo, Ontario N2L 3G1, Canada
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Amir Khajepour,
Amir Khajepour
Professor
Department of Mechanical Engineering,
University of Waterloo
, Waterloo, Ontario N2L 3G1, Canada
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Jan Paul Huissoon
Jan Paul Huissoon
Professor
Department of Mechanical Engineering,
University of Waterloo
, Waterloo, Ontario N2L 3G1, Canada
Search for other works by this author on:
Hamidreza Karbasi
Department of Mechanical Engineering,
University of Waterloo
, Waterloo, Ontario N2L 3G1, Canada
Amir Khajepour
Professor
Department of Mechanical Engineering,
University of Waterloo
, Waterloo, Ontario N2L 3G1, Canada
Jan Paul Huissoon
Professor
Department of Mechanical Engineering,
University of Waterloo
, Waterloo, Ontario N2L 3G1, CanadaJ. Dyn. Sys., Meas., Control. Dec 2006, 128(4): 969-975 (7 pages)
Published Online: November 15, 2005
Article history
Received:
October 18, 2004
Revised:
November 15, 2005
Citation
Karbasi, H., Khajepour, A., and Huissoon, J. P. (November 15, 2005). "Unidrive Modular Robot: Dynamics, Control, and Experiments." ASME. J. Dyn. Sys., Meas., Control. December 2006; 128(4): 969–975. https://doi.org/10.1115/1.2363199
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