MMS: a modular robotic system and model-based control architecture

William J. Schonlau

doi:10.1117/12.360350

26 August 1999 MMS: a modular robotic system and model-based control architecture

William J. Schonlau

Proceedings Volume 3839, Sensor Fusion and Decentralized Control in Robotic Systems II; (1999) https://doi.org/10.1117/12.360350
Event: Photonics East '99, 1999, Boston, MA, United States

Abstract

The Modulator Manipulator Systems (MMS) is a general purpose user configurable modular robotic system that provides rapid and inexpensive implementation of standard or customized manipulator geometries of arbitrary complexity, tailored to the needs of individual researchers or application engineers. Structures are configured from self contained 1- DOF rotary or linear JOINT modules, which include an on- board control processor, power amplifier, DC servomotor, high precision position sensor and a fast, rigid connect/disconnect latch. The joints are connected together by passive rigid LINK tubes, that define the manipulator geometry. These components are all offered in 5, 7, 10, 14 and 20 cm diameters, with power density and positional accuracy competitive with other commercial manipulators.

Citation Download Citation

William J. Schonlau "MMS: a modular robotic system and model-based control architecture", Proc. SPIE 3839, Sensor Fusion and Decentralized Control in Robotic Systems II, (26 August 1999); https://doi.org/10.1117/12.360350

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