Mobility Transition Control of a Reconfigurable Mobile Manipulator Torso
A Mobility Transition Control (MTC) is proposed to drive a novel 2-RER reconfigurable parallel mechanism (ReConBot) that contains two metamorphic chains with up to 12 operational modes. The control strategy necessary to drive the ReConBot represents a control challenge because of its variable mobility and reconfigurable architecture. The MTC algorithm is developed in a way that it is able to manage the twelve transition mobility states during a trajectory execution. The MTC algorithm is capable of adjusting its structure as well as the different parameters of the controller by itself to fulfill the control requirement abilities which result from the trajectory planning procedure. Finally, an experiment that makes the ReConBot going through 3 different operational modes is performed.
KeywordsParallel Robot reconfigurable robot Mobility Transition Control Torso
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We thank Sino-German (CSC-DAAD) Postdoc Scholarship Program 2014 and also IGMR, RWTH Aachen University for supporting the authors. The author also would like to thank the support of the National Boreau for Science and Technology of the Republic of Panama (SENACYT).
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