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自重构机器人模块间对接位姿的调整 被引量：4

Pose Adjustment among Modules of a Self-reconfigurable Robot System
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摘要 给出了一种网格型自重构机器人的基本模块.根据自重构模块化机器人的特点,描述了两模块旋转到位阶段和模块微调对中阶段,设计了一种红外线探测系统,检测两相邻模快相对位姿关系.它是在模块每个连接面上呈90°安置一对红外线传感器,利用红外线发射和接收装置测出两个连接面之间的相对位姿关系,修正两模块的相对位姿误差.仿真实验结果表明,所设计的红外线探测系统能实现模块间更加准确地对中和对接. A basic module of a lattice self-reconfigurable robot system was presented. According to the features of the robot system, the docking process between modules was described and a method which is used to test the pose among modules with IR sensors was proposed. A pair of infrared sensors is vertically located on every connection side of the modules. The relative pose of the two connection sides can be obtained by using the IR emitter and receiver, and the relative pose error can also be adjusted. The method is used to test the pose among modules with IR sensors. The experiment shows that it can realize the alignment and docking between neighbor modules.
作者 费燕琼 夏振兴 张鑫
机构地区 上海交通大学机器人研究所
出处 《上海交通大学学报》 EI CAS CSCD 北大核心 2008年第4期544-547,共4页 Journal of Shanghai Jiaotong University
基金 国家自然科学基金资助项目(50305021 50775145) 上海市自然科学基金资助项目(07ZR14050)
关键词 自重构机器人 对接 模块 self-reconfigurable robot docking module
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献6

  • 1Fukuda T, Nakagawa S. Dynamically reconfigurable robotic system[C]//Proeeedings of Int Conf Robotics and Automation. Philadelphia. PA: IEEE, 1998; 1581-1586.
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二级参考文献7

  • 1Yoshida E.Distributed self—reconfiguration of 3一D homogeneous modular structure[EB／0L].http:／／staff.aist.go.jp／e.yoshida／3dunit／3dunite—e-1.htm.
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  • 7Castano A,Will P.Mechanical design of a module for reconfigurable robots [A].IEEE Int Conf on Intelligent Robots and Systems[C].Takamatsu,Japan:IEEE Press,2000.2203—2209.

共引文献14

同被引文献34

引证文献4

二级引证文献9

上海交通大学学报
2008年 第4期

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