Control System and Design of the Motion Module of a Heterogeneous Modular Mobile Robot

摘要

We consider the modular principle for the construction of functional units of mobile robots. The main ideas of this concept and the general structure of the heterogeneous robot are presented. Basic functions of the robot are used to determine the minimum set of functional modules. For one of the simple configurations of the modular robot (the service mobile robot), we develop a motion module that is one of the main modules of the mobile robot. We present the design of this motion module and the result of a mathematical model of its control system. The control system combines the tactical level (for the construction of motion sub-targets and intermediate trajectories) and the executive level. The executive level of control system is based on kinematic and dynamic models of the modular robot. Working efficiency of the modular robot's model was tested on different motion tasks.