A systematic approach to trajectory planning applied to modular robots

Abstract

A flexible manufacturing system is defined as a system that has the ability to respond to expected or unexpected changes in a manufacturing process. Currently, one of the options to implement a flexible manufacturing system, is the use of advanced technologies to provide more flexibility, lower cost and reusability. In this context, the modular robots (based in mechatronic modules) can be an alternative to classic manipulators, because they have a variable kinematic structure and are adaptable to changing production lines, being economic for industrial implementations. In this study, taking into account the flexibility characteristics of modular robots, a systematic approach to path planning applied in different modular robotic configurations is presented. The proposed methodology is described as follows: 1) definition of the concepts of a mechatronic module, 2) application of mechatronic modules in assembling of modular robots; and finally, 3) presentation of a system for the path planning of different modular configurations. The studies show that the concepts related to the trajectory planning are important aspects to be considered in self-configurable and flexible platforms.