System design and kinematic analysis to motion control for RPRS
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); Zhang LP(张力平)
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| 出版日期 | 2006 |
| 会议名称 | 6th World Congress on Intelligent Control and Automation |
| 会议日期 | June 21-23, 2006 |
| 会议地点 | Dalian, China |
| 关键词 | RPRS modularized control structure kinematic analysis inverse kinematic solution |
| 页码 | 9154-9158 |
| 通讯作者 | 王明辉 |
| 中文摘要 | This paper addresses the modularized structure of the control system and kinematic analysis to motion control for a new planetary rover, Reconfigurable Planetary Robot System (RPRS). In the RPRS, a child-robot with a 6-DOF arm and a wheel can independently locomote and manipulate. Furthermore, the child-robots have self-reconfiguration capability so that multiple child-robots can construct and reconfigurable to diverse configurations. Based on distributed controller and CAN, the structure and functions of the control system are decomposed to different modules with independent controllers. The control flow with distributed computation is introduced. The kinematics and inverse kinematic solutions are both educed. The results of this research are also demonstrated through the simulation and experiments of the prototypes. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | Dalian Univ Technol, Northeastern Univ, Dalian Maritime Univ, Shanghai Baosight Software Co Ltd, IEEE Robot & Automat Soc, Natl Nat Sci Fdn China, Chinese Assoc Automat, IEEE Control Syst Soc, Beijing Chapter, Minist Educ China, Grandar Robot Co Ltd, Yokogawa Elect Corp, KC Wong Educ Fdn, Siemens Ltd |
| 会议录 | WCICA 2006: Sixth World Congress on Intelligent Control and Automation, Vols 1-12, Conference Proceedings
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 1-4244-0331-6 |
| WOS记录号 | WOS:000241773209267 |
| 源URL | [http://ir.sia.cn/handle/173321/8896]  |
| 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. System design and kinematic analysis to motion control for RPRS[C]. 见:6th World Congress on Intelligent Control and Automation. Dalian, China. June 21-23, 2006. |
入库方式： OAI收割
来源：沈阳自动化研究所
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