Design and modelling of a modular robot system

A modular robot system - consisting of a linear and a rotary actuator and for loads up to 50 kg - has been developed. The linear robot arm is driven by a DC motor, has a length of 1 m, a maximum velocity of 1 m/s, an acceleration of 5 m/s2 and an accuracy of 0.01 mm. The rotational module is also driven by a DC motor with an angular velocity of /2 rad/s2, an acceleration of /2 rad/s2 an acceleration of 10-5 rad. With a 3D-force sensor teach - and replay of trajectories will be performed. Optimal trajectory control strategies - like e.g. the optimal control law by matrix riccati, the computed torque or model reference adaptive control (MRAC) method - are based on a good knowledge of the system. So from this modular robot an extended dynamic model has been made, which is verified by modal analysis techniques. Next a model reduction has been done - to obtain a simulation model or a control model - and this is necessary to test adaptive path control algorithms with respect to the phenomena of parameter varations during trajectory performanc