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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)
Department机器人学研究室
Source PublicationINTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
ISSN0826-8185
2017
Volume32Issue:3Pages:201-213
Indexed BySCI ; EI
EI Accession number20173304045951
WOS IDWOS:000401972800001
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China [61473283]
KeywordReconfigurable Robots Dynamic Modelling Configuration Grasp Analogy
AbstractReconfigurable 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.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectAutomation & Control Systems ; Robotics
WOS KeywordFORMULATION
WOS Research AreaAutomation & Control Systems ; Robotics
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/20493
Collection机器人学研究室
Corresponding AuthorHu YN(胡亚南)
AffiliationState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
Recommended Citation
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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