同构阵列式自重构机器人的仿真与控制

Simulation and Control of Homogeneous,Lattice Modular Self-Reconfigurable Robot

针对同构阵列式模块化自重构机器人的特点,说明该机器人系统是一个分布式的多智能体系统,结合agent技术,对自重构模块的组成进行了分析,并提出一种能够准确描述该类机器人的拓扑结构、运动、位置及模块间连接关系的特征向量矩阵;对自重构模块的翻转、平移运动和元模块的构成及运动形式进行了描述,搭建了分布式多智能体的控制结构,结合模块的空间矢量进行路径规划,利用Java3D技术建立了可视化的模块化自重构机器人仿真环境,在此平台上对模块的运动进行了仿真,验证了该控制算法和仿真平台的有效性。

Aimed at homogeneous, lattice Modular Self - Reconfigurable Robot （ MSR）, the paper explained that the system was a distributed multi - agent system, In combination with agent technology, the component of MSR was analyzed and a method was proposed to describe the topology structure, movement, position and connection of the MSR. This paper describes overturn and level movement of MSR, component and movement of meta - module, and constructs control structure of distributed multi - agent. By using modular space vector to perform motion planning, the visual simulation environment of MSR was designed utilizing java 3D technology. In the environment the motion of module was simulated, it testified the efficiency of control algorithm and simulation environment.