Kinematic Calculation for Modular Reconfigurable Cooperating Robotic Systems

Dominic Weber, Canlong Ma, Martin Wahle, Tim Detert, and Burkhard Corves


Robot kinematics, reconfigurable, modular, cooperating, redundancy


The field of reconfigurable and cooperative robotics is attracting increasingly widespread attention in industry. The reasons for this are the many advantages of such systems over traditional fixed configuration single arm robots, such as their adaptability to changing tasks and superior stiffness properties. This paper presents a solution scheme for a computational calculation of the joint variables and Jacobian of arbitrarily configured modular cooperating robots for the task of object integrated manipulation. The system architecture is defined and a calculation procedure which takes into consideration possible kinematic redundancy as well as actuator constraints is implemented and then validated on a representative example.

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