A solution method for kinematics of reconfigurable modular robots

被引：0
|
作者：
Wei, Yan-Hui [1 ]
Zhao, Jie [2 ]
Gao, Yan-Bin [1 ]
Cai, He-Gao [2 ]
机构：
[1] College of Automation, Harbin Engineering University, Harbin 150001, China
[2] Robotics Institutes, Harbin Institute of Technology, Harbin 150001, China
来源：
Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology | 2010年 / 42卷 / 01期
关键词：
Inverse problems - Inverse kinematics;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
Aiming at the problem that there are no unified methods for solving kinematics of reconfigurable modular robots, a way of matching configuration plane is presented. Based on the improved modeling method of D-H, kinematics models of reconfigurable modular robots can be formed automatically. Then, inverse kinematics solutions to the reconfigurable modular robots can be obtained in single tandem form through matching tertiary configurable planes after dividing the configurations of robots at objective points into a few configuration planes. Finally, simulation on robots with 6-DOF and 8-DOF are carried out, and the result validates the reliability and practicality of this method.
引用
收藏
页码：133 / 137
相关论文
共 50 条
  • [1] Kinematics and dynamics of reconfigurable modular robots
    Fei, YQ
    Zhao, XF
    Xu, WL
    1998 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5, 1998, : 3335 - 3341
  • [2] Kinematics and dynamics of reconfigurable modular robots
    Fei, YQ
    Zhao, XF
    Xu, WL
    1998 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5, 1998, : 3325 - 3334
  • [3] Inverse kinematics for modular reconfigurable robots
    Chen, IM
    Yang, G
    1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, 1998, : 1647 - 1652
  • [4] Topology and kinematics for modular reconfigurable parallel robots
    Brisan, C
    Qian, X
    Franitza, D
    Hiller, M
    ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS, 2004, : 1595 - 1598
  • [5] Numerical inverse kinematics for modular reconfigurable robots
    Chen, IM
    Yang, GL
    Kang, IG
    JOURNAL OF ROBOTIC SYSTEMS, 1999, 16 (04): : 213 - 225
  • [6] Task-oriented Inverse Kinematics of Modular Reconfigurable Robots
    Wu, Wenqiang
    Guan, Yisheng
    Li, Huaizhu
    Su, Manjia
    Zhu, Haifei
    Zhou, Xuefeng
    Zhang, Hong
    2013 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM): MECHATRONICS FOR HUMAN WELLBEING, 2013, : 1187 - 1192
  • [7] An Innovative Error Measuring Method for Modular Interfaces of Modular Reconfigurable Robots
    Jiang, Zizhen
    Gao, Wenbin
    Yu, Xiaoliu
    PROCEEDINGS OF ICRCA 2018: 2018 THE 3RD INTERNATIONAL CONFERENCE ON ROBOTICS, CONTROL AND AUTOMATION / ICRMV 2018: 2018 THE 3RD INTERNATIONAL CONFERENCE ON ROBOTICS AND MACHINE VISION, 2018, : 119 - 122
  • [8] Flexible kinematics for modular robots
    Tarchanidis, KN
    Mackay, AS
    Lucas, J
    MICROPROCESSORS AND MICROSYSTEMS, 1995, 19 (09) : 525 - 532
  • [9] Flexible kinematics for modular robots
    Tarchanidis, K.N., 1600, Butterworth-Heinemann Ltd, Oxford, United Kingdom (19):
  • [10] Programming for modular reconfigurable robots
    Gorbenko, A. A.
    Popov, V. Yu.
    PROGRAMMING AND COMPUTER SOFTWARE, 2012, 38 (01) : 13 - 23
12345