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An Automatic Dynamics Generation Method for Reconfigurable Modular Robot
Gao WB(高文斌); Wang HG(王洪光)
作者部门空间自动化技术研究室
专著(文集)名Advances in Reconfigurable Mechanisms and Robots I
编著者Jian S Dai, Matteo Zoppi, Xianwen Kong
出版者Springer-Verlag
出版地Berlin
2012
ISBN号978-1-4471-4140-2
出处页码551-560
收录类别EI
EI收录号20131416176814
关键词Reconfigurable Modular Robot Dynamics Lie Group
摘要A method of automatic dynamics generation for modular robots is presented on modular level. The robot’s link parameters are got from the modules’ parameters and the Assemble Incidence Matrix (AIM) describing the module types, assembled orientations and sequence of a given robot configuration. Adjoint atrices are adopted to describe the forward mapping of velocities, accelerations from frames on the (i-1) link to that of the ith link, as well as the dual adjoint matrices are taken to describe the backward mapping of moments and forces between frames on the i and the (i-1)th links. A mathematically consistent recursive approach for dynamics of modular robot is got from the Newton–Euler formula in Lie Group form.
语种英语
产权排序1
文献类型专著章节/文集论文
条目标识符http://ir.sia.cn/handle/173321/10249
专题空间自动化技术研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110016 Shenyang, China
2.Graduate School of Chinese Academy of Sciences, 100049 Beijing, China
推荐引用方式
GB/T 7714
Gao WB,Wang HG. An Automatic Dynamics Generation Method for Reconfigurable Modular Robot. Advances in Reconfigurable Mechanisms and Robots I. Berlin:Springer-Verlag,2012:551-560.
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