DYNAMIC MODELLING OF RECONFIGURABLE ROBOTS WITH INDEPENDENT LOCOMOTION AND MANIPULATION ABILITY
文献类型：期刊论文
| 作者 | Hu YN(胡亚南) ; Wang YC(王越超); Wang MH(王明辉); Li B(李斌); Ma SG(马书根)
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| 刊名 | INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
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| 出版日期 | 2017 |
| 卷号 | 32期号:3页码:201-213 |
| 关键词 | Reconfigurable robots dynamic modelling configuration grasp analogy |
| ISSN号 | 0826-8185 |
| 产权排序 | 1 |
| 通讯作者 | Hu YN(胡亚南) |
| 中文摘要 | Reconfigurable robots with independent locomotion and manipulation ability (RRLMA) refer to the reconfigurable robots capable of locomoting and performing manipulation tasks either individually or in a group. It takes great effort to derive the dynamic model manually because frequent reconfiguration of the group is needed to adapt to different environments, for which the dynamic model has to be re-established accordingly. This paper presents a general dynamic formulation for RRLMA. The dynamic model of an independent module is first developed in the Lagrangian framework using techniques of local Lie algebra coordinates, which is free of singularity and shows the structure of the dynamic coupling explicitly. Then, inspiration from multifingered grasp is drawn to establish the constraint equations that describe the interactions between modules, while the general joint model is used to describe a variety of connections. The closed-form dynamic model has broad generality to deal with configurations with arbitrary topologies, and also allows automatic generation. Moreover, the structure of the dynamics allows the use of open-chain solutions to facilitate simulation. The validity of the dynamic model is verified by a simulation. Case study shows the effectiveness of the dynamic model in configuration optimization. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Robotics |
| 研究领域[WOS] | Automation & Control Systems ; Robotics |
| 关键词[WOS] | FORMULATION |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000401972800001 |
| 源URL | [http://ir.sia.cn/handle/173321/20493]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 作者单位 | State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Hu YN,Wang YC,Wang MH,et al. DYNAMIC MODELLING OF RECONFIGURABLE ROBOTS WITH INDEPENDENT LOCOMOTION AND MANIPULATION ABILITY[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,2017,32(3):201-213. |
| APA | Hu YN,Wang YC,Wang MH,Li B,&Ma SG.(2017).DYNAMIC MODELLING OF RECONFIGURABLE ROBOTS WITH INDEPENDENT LOCOMOTION AND MANIPULATION ABILITY.INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,32(3),201-213. |
| MLA | Hu YN,et al."DYNAMIC MODELLING OF RECONFIGURABLE ROBOTS WITH INDEPENDENT LOCOMOTION AND MANIPULATION ABILITY".INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 32.3(2017):201-213. |
入库方式： OAI收割
来源：沈阳自动化研究所
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