Networked Embedded Control of Modular Robot Manipulators Using VDC

Abstract In this paper, a networked embedded control of modular robot manipulators without using joint torque sensing is presented. The proposed solution uses an effective control and communication mechanism based on the virtual decomposition control (VDC) approach with embedded FPGA (Field Programmable Gate Array) implementation. A hierarchical master-slaves control structure is used, supported by a high speed communication data bus. The master computer handles only kinematics computation and the dynamics-based computations are all performed by individual embedded FPGA module controllers. The virtual stability of each module is ensured, resulting in the L 2 /L ∞ stability of the entire robot. Experimental results achieved on a three-module robot manipulator using harmonic drives are presented.