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DYNAMIC MODELLING OF RECONFIGURABLE ROBOTS WITH INDEPENDENT LOCOMOTION AND MANIPULATION ABILITY
Hu YN(胡亚南); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Wang YC(王越超)
作者部门机器人学研究室
关键词Reconfigurable Robots Dynamic Modelling Configuration Grasp Analogy
发表期刊INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
ISSN0826-8185
2017
卷号32期号:3页码:201-213
收录类别SCI ; EI
EI收录号20173304045951
WOS记录号WOS:000401972800001
产权排序1
资助机构National Natural Science Foundation of China [61473283]
摘要Reconfigurable robots with independent locomotion and manipulation ability (RRLMA) refer to the reconfigurable robots capable of locomoting and performing manipulation tasks either individually or in a group. It takes great effort to derive the dynamic model manually because frequent reconfiguration of the group is needed to adapt to different environments, for which the dynamic model has to be re-established accordingly. This paper presents a general dynamic formulation for RRLMA. The dynamic model of an independent module is first developed in the Lagrangian framework using techniques of local Lie algebra coordinates, which is free of singularity and shows the structure of the dynamic coupling explicitly. Then, inspiration from multifingered grasp is drawn to establish the constraint equations that describe the interactions between modules, while the general joint model is used to describe a variety of connections. The closed-form dynamic model has broad generality to deal with configurations with arbitrary topologies, and also allows automatic generation. Moreover, the structure of the dynamics allows the use of open-chain solutions to facilitate simulation. The validity of the dynamic model is verified by a simulation. Case study shows the effectiveness of the dynamic model in configuration optimization.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Automation & Control Systems ; Robotics
关键词[WOS]FORMULATION
WOS研究方向Automation & Control Systems ; Robotics
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/20493
专题机器人学研究室
通讯作者Hu YN(胡亚南)
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
Hu YN,Ma SG,Li B,et al. DYNAMIC MODELLING OF RECONFIGURABLE ROBOTS WITH INDEPENDENT LOCOMOTION AND MANIPULATION ABILITY[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,2017,32(3):201-213.
APA Hu YN,Ma SG,Li B,Wang MH,&Wang YC.(2017).DYNAMIC MODELLING OF RECONFIGURABLE ROBOTS WITH INDEPENDENT LOCOMOTION AND MANIPULATION ABILITY.INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,32(3),201-213.
MLA Hu YN,et al."DYNAMIC MODELLING OF RECONFIGURABLE ROBOTS WITH INDEPENDENT LOCOMOTION AND MANIPULATION ABILITY".INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 32.3(2017):201-213.
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