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Automatic kinematic modelling of a modular reconfigurable robot
Pan XA(潘新安); Wang HG(王洪光); Jiang Y(姜勇); Xiao JZ(肖继忠)
Department空间自动化技术研究室
Source PublicationTRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
ISSN0142-3312
2013
Volume35Issue:7Pages:922-932
Indexed BySCI ; EI
EI Accession number20133816767400
WOS IDWOS:000326173800008
Contribution Rank1
Funding OrganizationThis work was supported by the National High Technology Research and Development Program of China (863 Program; grant number 2007AA041703) and the National Natural Science Foundation of China (grant number 60905048).
KeywordKinematics Modular Reconfigurable Robot Graph Theory Topological Analysis Screw Theory
AbstractThis 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.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectAutomation & Control Systems ; Instruments & Instrumentation
WOS KeywordCONFIGURATION
WOS Research AreaAutomation & Control Systems ; Instruments & Instrumentation
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/13968
Collection空间自动化技术研究室
Corresponding AuthorPan XA(潘新安)
Affiliation1.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
GB/T 7714
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.
APA Pan XA,Wang HG,Jiang Y,&Xiao JZ.(2013).Automatic kinematic modelling of a modular reconfigurable robot.TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL,35(7),922-932.
MLA Pan XA,et al."Automatic kinematic modelling of a modular reconfigurable robot".TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL 35.7(2013):922-932.
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