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An Automatic Dynamics Generation Method for Reconfigurable Modular Robot
Gao WB(高文斌); Wang HG(王洪光)
Department空间自动化技术研究室
Source PublicationAdvances in Reconfigurable Mechanisms and Robots I
ContributorJian S Dai, Matteo Zoppi, Xianwen Kong
PublisherSpringer-Verlag
Publication PlaceBerlin
2012
ISBN978-1-4471-4140-2
Pages551-560
Indexed ByEI
EI Accession number20131416176814
KeywordReconfigurable Modular Robot Dynamics Lie Group
AbstractA 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.
Language英语
Contribution Rank1
Document Type专著章节/文集论文
Identifierhttp://ir.sia.cn/handle/173321/10249
Collection空间自动化技术研究室
Affiliation1.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
Recommended Citation
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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