Mobility Transition Control of a Reconfigurable Mobile Manipulator Torso

  • Jorge De La CruzEmail author
  • Wan Ding
  • Mathias Huesing
  • Burkhard Corves
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


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.


Parallel 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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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Jorge De La Cruz
    • 1
    Email author
  • Wan Ding
    • 1
  • Mathias Huesing
    • 1
  • Burkhard Corves
    • 1
  1. 1.Institute of Mechanism Theory, Machine Dynamics and RoboticsAachenGermany

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