An Underactuated Modular Robot for Testing Control Algorithms

In this paper we propose a concept of a modular robot that can mainly be used for testing control algorithms in research work and in education. In our research work the main purpose is the experimental testing of computed torque control algorithms of underactuated dynamical systems, which are modeled by non-minimum set of descriptor coordinates. Various control methods are known being able to handle these type of control systems. Before the application of these methods on complex robotic structures experimental testing on simpler robotic systems is also needed additionally to the simulational tests. The benefit of the development of a customized modular manipulator is to get a flexibly programmable and reconfigurable robot which can be built up in several various architectures. The modular structure makes possible to build up different configuration robots, including serial and closed kinematic chain robots. The design and tune of a control strategy for complex and often underactuated systems require practical knowledge and experience of sensing, actuating and data processing based on computers. This predictably low price application makes possible to investigate the control of a serial, parallel or hybrid kinematic chained robot in real environment for educational or research purposes. An other important task is the portability and compatibility, which means that the system will be able to be mobilized easily and to be controlled by any PC using commercial softwares like the Matlab.