Configuration analysis for reconfigurable modular planetary robots based on MSV and CSM
文献类型：会议论文
| 作者 | Wang MH(王明辉) ; Ma SG(马书根); Li B(李斌); Wang YC(王越超)
|
| 出版日期 | 2006 |
| 会议名称 | IEEE/RSJ International Conference on Intelligent Robots and Systems |
| 会议日期 | October 9-13, 2006 |
| 会议地点 | Beijing, China |
| 关键词 | reconfigurable modular planetary robot system configuration Module State Vector Configuration State Matrix |
| 页码 | 3191-3196 |
| 中文摘要 | A reconfigurable modular planetary robot system (RMPRS) consists of the parent body and multiple asymmetric wheel-manipulator child-robot modules. The module, which can independently locomote and manipulate, possesses the orientation of posture and the direction of locomotion. The modules have reconfiguration capability so that a group of the modules can construct a variety of configurations. The aim of the robot reconfiguration is to generate better configuration with respect to the directional locomotion adapted to the environment. Module State Vector (MSV) and Configuration State Matrix (CSM) are presented and constructed for representing the asymmetric module and the configurations, and supporting the transformation operation for triggering the elementary motions of the module and the reconfiguration. The algorithm for optimizing the assembly reconfiguration of discrete modules is proposed and the result is evaluated through numerical simulation in an example. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE, RSJ |
| 会议录 | 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-0258-8 |
| WOS记录号 | WOS:000245452403055 |
| 源URL | [http://ir.sia.cn/handle/173321/8607]  |
| 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 analysis for reconfigurable modular planetary robots based on MSV and CSM[C]. 见:IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, China. October 9-13, 2006. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。