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题名:
Automatic kinematic modelling of a modular reconfigurable robot
作者: Pan XA(潘新安); Wang HG(王洪光); Jiang Y(姜勇); Xiao JZ(肖继忠)
作者部门: 空间自动化技术研究室
通讯作者: Pan XA(潘新安)
关键词: Kinematics ; modular reconfigurable robot ; graph theory ; topological analysis ; screw theory
刊名: TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
ISSN号: 0142-3312
出版日期: 2013
卷号: 35, 期号:7, 页码:922-932
收录类别: SCI ; EI
EI收录号: 20133816767400
WOS记录号: WOS:000326173800008
产权排序: 1
摘要: This paper focuses on the automatic generation of forward kinematics of a kind of modular reconfigurable robot. Based on the modularized division of robots and the communication between the host and the modules, a configuration recognition method is proposed. By using the graph theory, the method of topological analysis is proposed, and the assembly incidence matrix (AIM) and path matrix are derived. Subsequently, based on the results of topological analysis and the definition of module frames, the initial poses and twists of a robot are obtained. To deal with the multi-chain robots, the entries of the path matrix are employed to enable dyads to appear or not to appear in the kinematic equations. Then, the forward kinematics of the multi-chain robot is derived. An illustrative example and an experiment are presented. The results show that the method is valid and suitable for both single-open-chain robots and multi-chain robots.
语种: 英语
WOS标题词: Science & Technology ; Technology
类目[WOS]: Automation & Control Systems ; Instruments & Instrumentation
关键词[WOS]: CONFIGURATION
研究领域[WOS]: Automation & Control Systems ; Instruments & Instrumentation
Citation statistics:
内容类型: 期刊论文
URI标识: http://210.72.131.170/handle/173321/13968
Appears in Collections:空间自动化技术研究室_期刊论文

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作者单位: 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 114 Nanta Street, Shenyang 110016, China
2.Graduate School of the Chinese Academy of Sciences, Beijing, China
3.Department of Electrical Engineering, City College of New York, NY, United States

Recommended Citation:
Pan XA,Wang HG,Jiang Y,et al. Automatic kinematic modelling of a modular reconfigurable robot[J]. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL,2013,35(7):922-932.
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