Abstract
This article gives an overview of the Mechanism Model paradigm. The mechanism model paradigm provides a framework to modeling mechanisms for robotic control. The emphasis is on the unification of mathematical models of kinematics/dynamics, geometric information and control system parameters for a variety of robotic systems (including serial manipulators, wheeled and legged locomotors), with algorithms that are needed for typical robot control applications.
Highlights
The work presented in this paper describes 1) a unified approach for modeling the geometric and dynamic properties of a variety of robotic systems and 2) generic algorithms that operate on the model to perform common analyses needed in the control of such systems
The goal of this work is to provide a common representation for describing mechanical systems, such as robotic arms and wheeled and legged vehicles, and to provide built-in algorithms, such as forward and inverse kinematics and collision detection, that are needed in typical robot control applications
Approach To provide a unified representation of heterogeneous mechanisms, we developed a new approach to model robotic systems for real-time control and computation
Summary
The work presented in this paper describes 1) a unified approach for modeling the geometric and dynamic properties of a variety of robotic systems and 2) generic algorithms that operate on the model to perform common analyses needed in the control of such systems. The goal of this work is to provide a common representation for describing mechanical systems, such as robotic arms and wheeled and legged vehicles, and to provide built-in algorithms, such as forward and inverse kinematics and collision detection, that are needed in typical robot control applications The implementation of this approach will provide the Coupled Layer Architecture for Robotic Autonomy (CLARAty) (Volpe, 2001), (Nesnas, 2003), (CLARAty, 2005) on-board software with a more generic infrastructure for mechanism modeling and analysis. The body of work presented in the literature covers different aspects of our problem (e.g., serial kinematic chains and real-time control), there is no approach that covers all the types of mobility mechanisms covered in CLARAty. even though the work presented in the literature provides algorithms for robot control applications, they all seem to lack a very important property, that of geometric representation, to allow the integration of collision detection algorithms.
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