Dynamic analysis, modeling and control of the LEGO EV3 modular mobile platform

Abstract

Due to the increased popularity of robotic systems and their more frequent application, some companies have opted to incorporate modular robotic systems in their assortment. The advantages of such systems are great flexibility in terms of combining components, relatively easy programmability, a wide range of functions that can be performed, the availability of components, as well as modularity in terms of functional and structural connectivity. The disadvantages are reflected by the fact that these systems are not optimized for a particular application. The precision and accuracy of such systems are substantially less than those of the system created exclusively for a particular application. Gaps and dead strokes of moving parts are very influential on the performance of functions and there is relatively little autonomy to such systems. The problem of mutual inarticulation of motors was introduced, and a solution was given to overcome these problems. The observations concerning the aforementioned problems have been explained and the most important features of this approach to robotic systems highlighted.