Research on kinematics 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); Yu C(余岑)
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| 出版日期 | 2011 |
| 会议名称 | 1st Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 2011 |
| 会议日期 | March 20-23, 2011 |
| 会议地点 | Kunming, China |
| 关键词 | Algebra Intelligent systems Kinematics Modular robots Screws |
| 页码 | 91-96 |
| 中文摘要 | This paper mainly focuses on the kinematics of multi-branch modular reconfigurable robots. A method of generating the forward kinematics is proposed. Firstly, the robot is divided into joints and links, which are formed dyads subsequently. Secondly, module frames are defined and attached to each connector of modules. Thirdly, based on screw theory and Lie group and Lie algebra, the initial poses and twists of a multi-branch robot are obtained, and the kinematic equations of the robot are derived. An illustrative example and an experiment are implemented, respectively, and the results show that the method is valid and suitable for both single-open-chain robots and multi-branch robots. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | IEEE; IEEE Robotics and Automation Society; IEEE Nanotechnology Council; Yunan Provincial Science and Technology Department; Kunming University of Science and Technology |
| 会议录 | 2011 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 2011
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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 | 978-1-61284-910-2 |
| 源URL | [http://ir.sia.cn/handle/173321/7725]  |
| 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 on kinematics of modular reconfigurable robots[C]. 见:1st Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 2011. Kunming, China. March 20-23, 2011. |
入库方式： OAI收割
来源：沈阳自动化研究所
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