Volume 27 Issue 3-4 - Publication Date: March 2008

Distributed Control Architecture for Self-reconfigurable Manipulators

A. Turetta, G. Casalino and A. Sorbara

The International Journal of Robotics Research 2008 27: 481–504

Downloadable Files

Simulation of a modular manipulator with eight degrees of freedom executing a point-to-point motion task while performing a varying number of iterations - MM1 - Performances by varying iteration.wmv (12.2mb)
Simulation of a modular manipulator with eight degrees of freedom moving in the presence of a joint limit - MM2 - Joint Limits.wmv (2mb)
Simulation of a tree-structured modular manipulator with 20 degrees of freedom executing a point-to-point movement - MM3 - Tree-structured chain.wmv (6.4mb)
Simulation of a tree-structured modular manipulator with 20 degrees of freedom performing a docking maneuver - MM4 - Tree-structured chain - Rendezvous and Docking.wmv (5.5mb)
P2MR: first-generation modules - MM5 - P2MR 1st generation.wmv (17mb)
P2MR: different configurations obtainable by second-generation modules - MM6 - P2MR 2nd generation.wmv (13.7mb)
P2MR: movement along the edges of a rectangle - MM7 - P2MR 2nd generation - rectangle.wmv (14mb)

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