SIA OpenIR  > 机器人学研究室
轮手一体机器人群体构形的模块化动力学建模方法
Alternative TitleModular dynamics modeling approach of group configuration of wheel-manipulator robots
胡亚南; 马书根; 李斌; 王明辉; 王越超
Department机器人学研究室
Source Publication机械工程学报
ISSN0577-6686
2015
Volume51Issue:1Pages:24-33
Indexed ByEI ; CSCD
EI Accession number20150500481927
CSCD IDCSCD:5334755
Contribution Rank1
Funding Organization国家自然科学基金资助项目(61273345)。
Keyword轮手一体机器人 群体构形 动力学 无奇异 几何积分
Abstract轮手一体机器人是一种模块化机器人,其单模块自由度多,结构相对复杂,群体构形形式多样,且需要经常重构以适应不同环境。采用传统方法对其进行动力学建模导致重复建模,机器人重构时更新量较多。针对此问题,提出一种基于模块化思想的群体构形动力学建模方法,减少了重复建模,且所得方程适用于串链、闭链、树形等各种拓扑构形。采用李代数作为局部坐标消除奇异位形,得到单模块机器人动力学方程的统一描述。根据群体构形的连接关系和连接类型定义接触集合和关节模型,建立约束力方程描述模块间的相互作用。针对动力学方程状态变量非矢量情况下的数值积分方法进行讨论,并给出实例仿真。
Other AbstractA wheel-manipulator robot, as a modular robot system, is characterized by multiple degrees of freedom and relatively complex architecture of the module. Modules of the wheel-manipulator robot can be combined to form various forms of group configuration. Moreover, the group configuration will often be reconfigured to fit into different environment. Conventional methods used to model the dynamics of modular robots will lead to duplicate work, and bring the large amount of data to be updated for reconfiguration. To solve this problem, a modular modeling approach is presented to obtain the general dynamics of group configuration of wheel-manipulator robots, which can eliminate duplicate modeling work. The resulting equations are suited for topologies of serial, closed-form, and tree-form. By using lie algebra as local coordinate, the dynamics of single module is derived, which is free of singularity. Contact sets and joint models are defined based on the relationship and types of connections between modules. Equations of constraint forces are formulated to describe the interactions between modules. Because the state variables of the dynamics equations are not vectors, the geometric numerical integration method is easily implemented. An example is provided to illustrate the validity of the dynamics equations and simulation process. ©2015 Journal of Mechanical Engineering.
Language中文
Citation statistics
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15739
Collection机器人学研究室
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
3.立命馆大学理工学部机器人学系
Recommended Citation
GB/T 7714
胡亚南,马书根,李斌,等. 轮手一体机器人群体构形的模块化动力学建模方法[J]. 机械工程学报,2015,51(1):24-33.
APA 胡亚南,马书根,李斌,王明辉,&王越超.(2015).轮手一体机器人群体构形的模块化动力学建模方法.机械工程学报,51(1),24-33.
MLA 胡亚南,et al."轮手一体机器人群体构形的模块化动力学建模方法".机械工程学报 51.1(2015):24-33.
Files in This Item: Download All
File Name/Size DocType Version Access License
轮手一体机器人群体构形的模块化动力学建模(4637KB)期刊论文出版稿开放获取ODC PDDLView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[胡亚南]'s Articles
[马书根]'s Articles
[李斌]'s Articles
Baidu academic
Similar articles in Baidu academic
[胡亚南]'s Articles
[马书根]'s Articles
[李斌]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[胡亚南]'s Articles
[马书根]'s Articles
[李斌]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 轮手一体机器人群体构形的模块化动力学建模方法.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.