An Automatic Dynamics Generation Method for Reeonfigurable Modular Robot

摘要：

A method of automatic dynamics generation for modular robots is presented on modular level. The robots link parameters are got from the modules parameters and the Assemble Incidence Matrix (AIM) describing the module types, assembled orientations and sequence of a given robot configuration. Adjoint matrices are adopted to describe the forward mapping of velocities, accelerations from frames on the (i-1) link to that of the ith link, as well as the dual adjoint matrices are taken to describe the backward mapping of moments and forces between frames on the i and the (i- l)th links. A mathematically consistent recursive approach for dynamics of modular robot is got from the Newton-Euler formula in Lie Group form.

关键词： Reconfigurable modular robot Dynamics Lie group

作者: Wenbin Gao Hongguang Wang

作者单位: State Key Laboratory of Robotics, Shenyang Institute of Automation,Chinese Academy of Sciences, 1100 State Key Laboratory of Robotics, Shenyang Institute of Automation,Chinese Academy of Sciences, 1100

会议类型: 国际会议

会议名称: The Second ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robote 第二届ASME/IFTOMM可重构机构与可重构机器人国际大会 ReMAR 2012

会议地点: 天津

会议语种:英文

页码: 551-560

在线出版日期: 2012-07-08（万方平台首次上网日期，不代表论文的发表时间）