Unified Dynamic and Control Models for Reconfigurable Robots
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A highly reconfigurable control system that intelligently unifies reconfiguration and manages the interaction of individual robotic control systems within a Reconfigurable Manufacturing System (RMS), is presented. A Reconfigurable Plant Model (RPM) representing different robotic systems was developed to perform any reconfigurable control process. The RPM has seven reconfigurable modules: Reconfigurable Puma-Fanuc (RPF) model, Unified Kinematic Modeler and Solver (UKMS), Reconfigurable Puma-Fanuc Jacobian Matrix (RPFJM), Reconfigurable Puma-Fanuc Singularity Matrix (RPFSM), Reconfigurable RobotWorkspace (RRW), Reconfigurable Puma-Fanuc Dynamic Model (RPFDM), Reconfigurable Puma-Fanuc Dynamic Model Plus actuators (RPFDM+). The Reconfigurable Control Platform (RCP) was developed for the Reconfigurable Plant Model using MATLAB/Simulink® software. The PUMA 560 robot was selected for the case study. Using information of the kinematic and dynamic parameters for PUMA 560 robot and its DC motors parameters, the reconfigurable “PI” controller was designed in a function of the motor parameter. The system response exhibits a very good performance. The reverse modeling of the reconfigurable modules can be used for developing a new Reconfigurable Robot Meta Model.
KeywordsIndustrial Robot Link Dynamic Automate Machine Motor Parameter Electrical Part
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