摘要
提出了一种由相同机械结构单元组成的自重构模块机器人,介绍了该模块的机械结构设计,给出了一种建立在两级分层控制算法基础上的模块连接规划.每个模块可以独立与其他模块相互分离或连接,并且通过与其他模块相互配合来改变其连接方式,从而使整个机器人系统可以获得不同的三维结构和各种静态位形.Java 3D仿真结果表明了连接规划的可行性和有效性.
The design of a self-reeonfigurable modular machine which is composed of homogeneous mechanical units was proposed. Its connection planning was presented based on two hierarchical layers decomposition method. Each module can independently connect or disconnect with other modules, and then change the connection by collaborating with other modules. The self-reconfigurable modular system can form any 3D arbitrary structure and different static shape by themselves. The simulation of connection planning by utilizing 3D Java proves the new method for controlling modular robot is useful and effectual.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2006年第3期431-434,共4页
Journal of Shanghai Jiaotong University
基金
国家自然科学基金资助项目(50305021)
关键词
机器人
模块
自重构
robot
module
self-reconfigurable
