Automatically generated kinematics and control engine for modular and reconfigurable manipulators

This paper proposes a design methodology of self-reconfigurable kinematics and control scheme for modular and reconfigurable robots. A modular manipulator has been proposed to meet the requirement of task adaptation in versatile needs for service and industrial robot area. For self-reconfiguration of designed modular manipulators, kinematic and dynamic contexts are extracted from supplied modules and assembly information and related codes are automatically generated including controller. Thus a user can easily build and use a modular robot without professional knowledge for needed tasks. Simulation results are presented to verify the validity of the proposed method.