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Reconfigurable Robot Manipulators: Adaptation, Control, and MEMS Applications

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Advanced Mechatronics and MEMS Devices II

Part of the book series: Microsystems and Nanosystems ((MICRONANO))

Abstract

Reconfigurable robotic systems offer adaptable hardware which can modify its configuration based on the objectives to be accomplished. They consist of multiple individual modules. These modules, when combined, allow efficient and feasible reconfiguration. However, control of reconfigurable robotic manipulators is particularly challenging because of the inherent nonlinearity, unknown parameters, and uncertainties and variations in the system dynamics. The uncertainties and variations are mainly due to setup reconfigurations, friction and varying payloads, and are typically addressed using adaptive control. The purpose of this chapter is to present a systematic review of key control schemes for reconfigurable robotic systems, highlighting their benefits and disadvantages. We start with an introduction to the state of the art of reconfigurable robots and their applications. We also review the application of these systems at micro-scale. Then, we review control architectures for such systems, including linear, adaptive, and robust.

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Authors and Affiliations

  1. University of Waterloo, 200 University Ave W, Waterloo, ON, N2L 3G1, Canada

    Gokhan Gungor, Baris Fidan & William W. Melek

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  1. Gokhan Gungor
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  2. Baris Fidan
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  3. William W. Melek
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Correspondence to Gokhan Gungor .

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  1. York University, Toronto, Ontario, Canada

    Dan Zhang

  2. University of Ontario Institute of Technology, Oshawa, Ontario, Canada

    Bin Wei

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Gungor, G., Fidan, B., Melek, W.W. (2017). Reconfigurable Robot Manipulators: Adaptation, Control, and MEMS Applications. In: Zhang, D., Wei, B. (eds) Advanced Mechatronics and MEMS Devices II. Microsystems and Nanosystems. Springer, Cham. https://doi.org/10.1007/978-3-319-32180-6_9

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