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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: EI ; CPCI(ISTP)
EI收录号: 2005289203019
WOS记录号: WOS:000230484500050
产权排序: 1
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
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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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作者单位: 1.School of Mechanical Engineering, Xi'an Jiaotong University, 28 Xianning West Street, Xi'an 710049, China
2.Robotics Laboratory, Shenyang Institute of Automation, 114 Nanta Street, Shenyang 110016, China
3.Faculty of Engineering, Ibaraki University, 316-8511, Japan

Recommended Citation:
Zhang LP,Ma SG,Li B,et al. Position-sensing based a new docking system of RPRS[C]. 8th International Conference on Control, Automation, Robotics and Vision (ICARCV 2004). Kunming, China. December 6-9, 2004.Position-sensing based a new docking system of RPRS.
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