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题名: Position-sensing based a new docking system of RPRS
作者: Zhang LP(张力平) ; Ma SG(马书根) ; Li B(李斌) ; Zhang Z(张政) ; Dong ZL(董再励) ; Cao BG(曹秉刚)
作者部门: 机器人学研究室
会议名称: 8th International Conference on Control, Automation, Robotics and Vision (ICARCV 2004)
会议日期: December 6-9, 2004
会议地点: Kunming, China
会议主办者: Nanyang Technol Univ, Sch Elect & Elect Engn, Republic Singapore, Nanjing Univ Sci & Technol, Peoples Republic China, IEEE Robotics & Automation Soc, IEEE Syst, Man & Cybernet Soc, IEEE Control Syst Soc, IEE, Natl Nat Sci Fdn China, Singapore Tech Engn Ltd, Lee Fdn
会议录: 2004 8th International Conference on Control, Automation, Robotics and Vision, Vols 1-3
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2004
页码: 278-282
收录类别: CPCI(ISTP) ; EI
ISBN号: 0-7803-8653-1
摘要: Docking is an essential function for Reconfigurable Planetary Robot System (RPRS), it supports almost all metamorphic characteristics of the system. This paper presents a space docking method for self-reconfigurable modular robot system. The method adopts a Position Sensory Detector (PSD) to get the space geometrical relation between modular child robots. By using the kinematics and inverse kinematics modeling of the child robot, a docking control algorithm is developed to achieve space dock automatically. To validate the method, simulation experiments were done on a platform based on OPENGL, and the simulating results were given as well.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8829
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
张力平; 马书根; 李斌; 张政; 董再励; 曹秉刚.Position-sensing based a new docking system of RPRS.见:IEEE .2004 8th International Conference on Control, Automation, Robotics and Vision, Vols 1-3,NEW YORK,2004,278-282
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