The transformation process of an m-DOF free-floating robot from one staticstate to a different static state has m degrees of freedom. The proposed approach of thesetransformations utilizes a series of single-DOF trans...The transformation process of an m-DOF free-floating robot from one staticstate to a different static state has m degrees of freedom. The proposed approach of thesetransformations utilizes a series of single-DOF transformation processes as an alternative to them-DOF transformation process. Two static state transformation processes are studied in detail.First, a single-DOF transformation process is established using a newly defined concept, referred toas transformation planning, and the definite integral of conservation of angular momentum. Second,the governing equation of the single-DOF transformation process is established using the dynamicequations of motion of the robot. This allows the joint torques to be computed to effect the statetransformation. Finally, an extension of the single-DOF transformation process is proposed to extendthe application of this proposed transformation methodology to create a transformation net whichallows the reconfiguration of a robot from one state to many other possible states.展开更多
文摘The transformation process of an m-DOF free-floating robot from one staticstate to a different static state has m degrees of freedom. The proposed approach of thesetransformations utilizes a series of single-DOF transformation processes as an alternative to them-DOF transformation process. Two static state transformation processes are studied in detail.First, a single-DOF transformation process is established using a newly defined concept, referred toas transformation planning, and the definite integral of conservation of angular momentum. Second,the governing equation of the single-DOF transformation process is established using the dynamicequations of motion of the robot. This allows the joint torques to be computed to effect the statetransformation. Finally, an extension of the single-DOF transformation process is proposed to extendthe application of this proposed transformation methodology to create a transformation net whichallows the reconfiguration of a robot from one state to many other possible states.
