Abstract
We propose an improved Kane dynamic model theory for the 7-DOF modular robot in this paper, and the model precision is improved by the improved function T′it. We designed three types of progressive modular joints for reconfigurable modular robot that can be used in industrial robot, space robot, and special robot. The Kane dynamic model and the solid dynamic model are established, respectively, for the 7-DOF modular robot. After that, the experimental results are obtained from the simulation experiment of typical task in the established dynamic models. By the analysis model of error, the equation of the improved torque T′it is derived and proposed. And the improved Kane dynamic model is established for the modular robot that used T′it. Based on the experimental data, the undetermined coefficient matrix is five-order linear that was proved in 7-DOF modular robot. And the explicit formulation is solved of the Kane dynamic model and can be used in control system.
Highlights
Reconfigurable modular robot system (RMRS) consists of a series of different functions, characteristics, and assembly function of the standard size of joint or link modules, the way to the building blocks of robotic systems that have been assembled [1]
We propose an improved Kane dynamic model theory for the 7-DOF modular robot in this paper, and the model precision is improved by the improved function Ti(t)
The experimental results are obtained from the simulation experiment of typical task in the established dynamic models
Summary
Reconfigurable modular robot system (RMRS) consists of a series of different functions, characteristics, and assembly function of the standard size of joint or link modules, the way to the building blocks of robotic systems that have been assembled [1]. The design of joint structure and motion control system are important research tasks of the reconfigurable modular robot. The Kane method is applied to dynamics modeling and high precision control of parallel manipulator [23,24,25] and has achieved good results. We propose an improved Kane model theory for the 7-DOF modular robot, and the dynamic model precision is improved by the modified function Ti(t). The experimental results show that the modified function can effectively improve the accuracy of the dynamic model. The modification function T(t) is five-order linear in the 7DOF modular robot that was designed
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