부산대학교 도서관

Modular and reconfigurable robots (MRRs) are not only adaptable to multiple industrial task execution but they also have additional advantages such as versatile hardware, easier maintenance, and transportability. However, such features render the controller design that manages a variety of robot configurations with reliable performance more complex. The disturbances and uncertainties, in addition to reconfigurability, introduce difficulty in controlling MRRs. This paper aims to enhance MRRs' performance in terms of accurate and stable motion. Our proposed robust low-level control output set its nominal control parameters, and utilizes a sliding mode control approach to make the system performance robust to uncertainties and time-variations. The efficiency of the proposed control methodology is verified via simulations at the end.