Reconfiguration of a Group of Wheel-Manipulator Robots Based on MSV and CSM
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 | IEEE/ASME Transactions on Mechatronics
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| 出版日期 | 2009 |
| 卷号 | 14期号:2页码:229-239 |
| 关键词 | Configuration state matrix group configuration module state vector wheel-manipulator robot |
| ISSN号 | 1083-4435 |
| 产权排序 | 1 |
| 通讯作者 | 王明辉 |
| 中文摘要 | The problem addressed in this paper is the representation and reconfiguration of the group configurations assembled by wheel-manipulator robots. The wheel-manipulator robot as a module, which can independently perform the actions of locomotion and manipulation, possesses the properties of the postural orientation and the locomotive direction. The group configurations of these robots can be reconfigured through changing the connection between them. The aim of the reconfiguration is to generate better configurations adapting to the environment. The module state vector is proposed to represent the state of the asymmetric robotic module while the configuration state matrix is introduced to represent the group configuration of these robots. This approach supports transformation operation for triggering the elementary motions of the robot and reconfiguration between group configurations. The algorithms are proposed for assembling optimally the configuration of individual modules and for transforming optimally the configurations of the robots. Their validity is evaluated and demonstrated through numerical simulations. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
| 研究领域[WOS] | Automation & Control Systems ; Engineering |
| 关键词[WOS] | SYSTEM |
| 收录类别 | SCI ; EI ; CPCI（ISTP） |
| 语种 | 英语 |
| WOS记录号 | WOS:000265438100010 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7398]  |
| 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. Reconfiguration of a Group of Wheel-Manipulator Robots Based on MSV and CSM[J]. IEEE/ASME Transactions on Mechatronics,2009,14(2):229-239. |
| APA | Wang MH,Ma SG,Li B,&Wang YC.(2009).Reconfiguration of a Group of Wheel-Manipulator Robots Based on MSV and CSM.IEEE/ASME Transactions on Mechatronics,14(2),229-239. |
| MLA | Wang MH,et al."Reconfiguration of a Group of Wheel-Manipulator Robots Based on MSV and CSM".IEEE/ASME Transactions on Mechatronics 14.2(2009):229-239. |
入库方式： OAI收割
来源：沈阳自动化研究所
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