Distributed control system for modular self-reconfigurable robots

Modular, self-reconfigurable robots(MRR) show the promise of great versatility, simplicity, robustness and low cost. However, control system is one of the most important components of the robotic systems. It will depend on the control system to realize those promises. In this paper, we present a master/slave distributed control system for this type of robot. Because of excellent performance and high integration, the DSP controller-TMS320LF2406 is selected to compose the smallest system for the module DC motor control, with the individual controllers communicating with other modules and the master using a controller area network(CAN).