Analysis and implementation of control strategies for multibody robotic systems

Abstract

Multibody robotic organisms are reconfigurable dynamic systems. Thus the shape and the structure of a modular robot is not constant. Depending on the changing environment or on the current task of the robot its structure can be rearranged accordingly. Hence, that would also change the dynamic model of the robotic organism. Thus the kinematics and dynamics of the current modular structure of the robot, and with it also an appropriate control strategy, can not be calculated in advance.