A modular manipulator systems (MMS) architecture and implementation

MMS is a general purpose user configurable manipulator system that provides rapid design and inexpensive implementation of customized (simple or complex) manipulator geometries tailored to the needs of individual researchers or application engineers. Structures of arbitrary complexity are configured from self contained I-DOF rotary or linear JOINT modules, including on-board joint control processor, power amplifier, etc., connected together by passive rigid LINKS. The supporting software environment provides easy teaching of locations hierarchical programming of complex tasks, sophisticated tool trajectory control and integrated workspace I/O, including vision. The system architecture, many recent improvements, including model-based control software, and various economic advantages of the approach are presented.