Configuration representation and reconfiguration optimization for the reconfigurable robots with independent manipulation
文献类型：期刊论文
| 作者 | Wang MH(王明辉) ; Ma SG(马书根); Li B(李斌); Wang YC(王越超)
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| 刊名 | Science in China Series F: Information Sciences
 |
| 出版日期 | 2009 |
| 卷号 | 52期号:4页码:674-687 |
| 关键词 | reconfigurable robots with independent manipulation configuration representation reconfiguration optimization |
| ISSN号 | 1009-2757 |
| 产权排序 | 1 |
| 中文摘要 | Single module of the reconfigurable robots with independent manipulation can perform the actions of locomotion and manipulation. In conformity with the request for achieving autonomous operation in the unstructurized environment instead of fixed operation in the structurized environment, these robots are applied in the complicated and dangerous environment. The existing researches on the configuration theory focus on the reconfigurable robots with limited locomotion and the ones with independent locomotion, not being applicable to the reconfigurable robots with independent manipulation. The vector configuration is put forward, the research content of which contains the topology and locomotion direction of configuration, the posture and orientation and connection relation between modules. Module state vector and configuration state matrix are proposed for representation methodology for the swarm configuration of these reconfigurable robots, which supports transformation operation to represent and trigger behavior motion of the module and reconfiguration between configurations. Optimization algorithm of assembly reconfiguration applying workload as the optimization target is presented, as well as optimization algorithm of transformation reconfiguration applying the integration of posture orientation workload and connection workload. The result of optimization is the relation of state transformation between the initial configuration and the object one as the basic of reconfiguration plan and control. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Information Systems |
| 研究领域[WOS] | Computer Science |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000264923700011 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7324]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Wang MH,Ma SG,Li B,et al. Configuration representation and reconfiguration optimization for the reconfigurable robots with independent manipulation[J]. Science in China Series F: Information Sciences,2009,52(4):674-687. |
| APA | Wang MH,Ma SG,Li B,&Wang YC.(2009).Configuration representation and reconfiguration optimization for the reconfigurable robots with independent manipulation.Science in China Series F: Information Sciences,52(4),674-687. |
| MLA | Wang MH,et al."Configuration representation and reconfiguration optimization for the reconfigurable robots with independent manipulation".Science in China Series F: Information Sciences 52.4(2009):674-687. |
入库方式： OAI收割
来源：沈阳自动化研究所
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