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.