2007
DOI: 10.1109/robot.2007.363652
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Modular Robot Manipulators Based on Virtual Decomposition Control

Abstract: Modular or re-configurable robots have been studied and developed over two decades. Most researches focus on mechatronic interfaces and re-configurable capabilities. However, less attention has been paid to dynamics and control. Consequently, the control performance of a modular robot has never been comparable with an integrated robot, due to the lack of proper handling of the dynamic interactions among the modules. In this paper, the application of the virtual decomposition control to modular robot manipulato… Show more

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Cited by 21 publications
(12 citation statements)
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“…The developed concept of modular levels was designed mainly to perform multiple different tasks on a higher abstraction level. Another notable example of modular control architecture was presented in [5], where the application of a virtual decomposition control approach to modular robot manipulators is discussed. A high-speed data-bus with a data rate of 100 Mbps is used for necessary information exchange among the modules.…”
Section: Related Research Workmentioning
confidence: 99%
“…The developed concept of modular levels was designed mainly to perform multiple different tasks on a higher abstraction level. Another notable example of modular control architecture was presented in [5], where the application of a virtual decomposition control approach to modular robot manipulators is discussed. A high-speed data-bus with a data rate of 100 Mbps is used for necessary information exchange among the modules.…”
Section: Related Research Workmentioning
confidence: 99%
“…It is worth noting that the virtual decomposition control (VDC) approach proposed by Zhu 6 provides possibilities to break through such restrictions. This approach has been used in the trajectory tracking control of modular and hydraulically powered robot manipulators, 7,8 as well as impedance control for collision detection of robots. 9 It decomposes the overall robotic system into subsystems in respect to either single joint or single link.…”
Section: Introductionmentioning
confidence: 99%
“…Muller et al [21] simplified the hardware of control system to ensure the flexibility of system reconstruction and coordinated to operate all modular robots through independent central control. Zhu and Lamarche [22] described the system as a set of subsystems through virtual decomposition and then used the exchange information among modules to design the subsystem's controller. The distributed control method can reduce computational complexity and has a more harmonious and flexible structure compared to those in centralized control; it makes the system compatibility not only better, but also more suitable to the concept of modularization.…”
Section: Introductionmentioning
confidence: 99%