抄録
Mechanical systems have become more diverse and more complex. Control algorithms have been proposed for those systems by using compact sensors and high performance computers. As a result, the systems as well as the controller design processes have become more and more complex. Now, a simple method to design the control system is required. It is well known that modularization is effective for both hardware and software to design. Many reconfigurable modular robots have appeared so far. In those systems, however, the dynamics are not considered for motion control. Here we propose a new concept of modularization that integrates hardware modules and software modules in multi-body dynamic systems. Many mechanical systems are composed of multi-body systems. The mechanical system can be modularized with simple common elementary modules. To each module, a modularized simple dynamic model is given. A whole dynamic model can be constructed by connecting to each other dynamic model of each module. If the system is changed, its dynamic model can be constructed by changing the combination of elementary modules. In this study, our concept was evaluated by constructing software modules based on a Newton-Euler method as well as elementary hardware modules.
