A novel multi attribute decision making approach for selection of modular self-reconfigurable robots

Abstract

In past 2 decade, robotic field have gain a massive advancement and lots of companies are designing & producing different robot with different features & capabilities, so that robots can be used for a desired application. Previously, robots were classified as parallel, serial and hybrid robots and now a new type named self-reconfigurable robot is also added. Lots of research and designs were introduced like MTRAN, SMORES, etc. These robots can morph into different topology and can be used for space exploration, search & rescue, bucket to stuff. Selecting the correct robot for a particular application is always a concern because of increase in features. Many researchers have proposed different methods for selection process like TOPSIS, VIKOR, ELECTRE, etc. and also for giving weightage of a particular attribute many methods are introduced. In this research work both subjective and objective judgments are considered to calculate the weightage and TOPSIS method is proposed for selection of modular self-reconfigurable robot. The proposed method is compared with Line Graph.