Modular robot system architecture

• Published in: ICARCV 2002 : proceedings of the 7th International Conference on Control, Automation, Robotics, and Vision : 2-5 December, 2002, Marina Mandarin, Singapore Vol. 2; pp. 1054 - 1059 vol.2
• Main Authors: Bi, Z.M., Zhang, W.J., Lang, S.Y.T.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 2002
• Subjects: Adaptive systems; Control systems; Force sensors; Manufacturing; Robot sensing systems; Robot vision systems; Robotic assembly; Robotics and automation; Sensor systems; Service robots
• ISBN: 9810483643; 9789810483647
• DOI: 10.1109/ICARCV.2002.1238569

In comparison with dedicated robot systems, the main goal of modular robot systems is to achieve system adaptability by providing various modular configuration variations to meet possible task requirements. System architecture determines the system configuration variations, as the architecture specifies primary building blocks and the types of ways they are connected. In order to make systems more adaptive, configuration variations are expected to be as many as possible subject to the constraints of machining manufacturing applications. This paper reported briefly our recent research progresses on modular robot system architecture, including: (1) a proposed strategy to achieve high system adaptability; (2) a systematic method to develop modular system architecture; (3) the general representation of modular robot configurations.