Equivalent Fixed Shape Robot Model of a Modular Robot Configuration based on Module Characterization

摘要：

The modeling of a modular robot system is complex due to its capability of changing and forming countless robot configurations with a set of modules. The greater the number of modules added to the structure, more complicated is the robot and its modeling. A methodology to represent modular robot configurations as a fixed shape robot is presented. The equivalent model is obtained through the characterization of the module, graph theory and geometric modeling of robots. After the transformation, the resulting kinematic and dynamic parameters are similar to the traditional model of a single configuration robot. Once the equivalent model is obtained, it can be used within different robot applications.

作者: Juan A. Escalera Jos(e) Baca Manuel Ferre Rafael Aracil

作者单位: Centre for Automation and Robotics Universidad Polit(e)cnica de Madrid

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 1026-1031

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）