Research of topological analysis of modular reconfigurable robots
文献类型：会议论文
| 作者 | Pan XA(潘新安) ; Wang HG(王洪光); Jiang Y(姜勇); He N(何能); Yu C(余岑)
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| 出版日期 | 2010 |
| 会议名称 | 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 |
| 会议日期 | December 14-18, 2010 |
| 会议地点 | Tianjin, China |
| 关键词 | Biomimetics Modular robots Robotics |
| 页码 | 327-332 |
| 中文摘要 | To achieve the goal of automatic generation of robot kinematics, a method of topological analysis is proposed. Firstly, based on applying a modularized division method for robots and a module definition, an algorithm of discovering a robot configuration is proposed, and a module database is created. Then, a topological representation with a concept of joint is proposed, and a series of matrices are used to analyze a configuration. A model update method is also proposed for the condition of DOF reduced. A simulation of a robot with branches verifies the validity of the method. An experiment is implemented by employing the Modular Reconfigurable Robot System, and the results show that the topological analysis method is reliable and effective. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robotics and Automation Society; Hebei University of Technology; Tianjin University of Technology; Tianjin Association for Science and Technology |
| 会议录 | 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
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| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Piscataway, NJ |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-9317-3 |
| 源URL | [http://ir.sia.cn/handle/173321/7724]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 推荐引用方式 GB/T 7714 | Pan XA,Wang HG,Jiang Y,et al. Research of topological analysis of modular reconfigurable robots[C]. 见:2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010. Tianjin, China. December 14-18, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
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