Automatic kinematic modelling of a modular reconfigurable robot

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	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)
刊名	TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
	2013
卷号	35 期号:7 页码:922-932
关键词	Kinematics modular reconfigurable robot graph theory topological analysis screw theory
ISSN号	0142-3312
通讯作者	潘新安
产权排序	1
中文摘要	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.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Instruments & Instrumentation
研究领域[WOS]	Automation & Control Systems ; Instruments & Instrumentation
关键词[WOS]	CONFIGURATION
收录类别	SCI ; EI
资助信息	This 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).
语种	英语
WOS记录号	WOS:000326173800008
公开日期	2013-12-26
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/13968]
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. 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.