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一种自重构机器人手抓取构形的拓扑转换

Configuration Topological Transformation of a Self-Reconfigurable Robot Hand
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摘要 自重构机器人手是由一些模块构成的复杂的模块化自重构机器人系统。本文提出了一种能够准确描述了这类机器人手抓取构形拓扑结构的方法;分析了构形拓扑转换的规律和步骤,并结合模块的运动形式,描述了拓扑结构转换的操作过程,并运用智能算法对构形拓扑结构转换进行优化。经验证,拓扑转换的操作步骤减少了,自重构机器人手的构形转化效率提高了。 The self-reconfigurable robot hand is a complex self-reconfigurable robot system composed of modules. The process of topological transformation is described by module operations. An intelligent algorithm is proposed in the paper to reduce the steps of the topological transformation. The experimental result is also given.
作者 陈宜建
机构地区 常州信息职业技术学院电子信息工程系
出处 《自动化技术与应用》 2009年第3期12-14,23,共4页 Techniques of Automation and Applications
关键词 自重构机器人手 模块 遗传模拟退火算法 拓扑 self-reconfigurable robot hand module genetic simulated annealing topological
分类号 TP241.2 [自动化与计算机技术—检测技术与自动化装置]
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参考文献9

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自动化技术与应用
2009年 第3期

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