On the Analysis of a Multi-task Modular Robot System for Field Robotics

This paper describes a reconfigurable modular robot system named Rob MAT which attempts to be used in different applications during tele operation tasks. It permits rapid and cost effective design and fabrication. The approach employs elements from the inventory of three types of heterogeneous modules i.e., power and control module, joint module, and specialized module. The advantage of having interchangeable modules is the ability to build different robot configurations. Depending on the mission, the operator decides what type of robot can provide the best performance within the mission. Forward and inverse kinematics from assembled robot configurations are analyzed.