Mobility Transition Control of a Reconfigurable Mobile Manipulator Torso

Abstract

A Mobility Transition Control (MTC) is proposed to drive a novel 2-RER reconfigurable parallel mechanism (ReConBot) that contains two metamorphic chains with up to 12 operational modes. The control strategy necessary to drive the ReConBot represents a control challenge because of its variable mobility and reconfigurable architecture. The MTC algorithm is developed in a way that it is able to manage the twelve transition mobility states during a trajectory execution. The MTC algorithm is capable of adjusting its structure as well as the different parameters of the controller by itself to fulfill the control requirement abilities which result from the trajectory planning procedure. Finally, an experiment that makes the ReConBot going through 3 different operational modes is performed.