摘要
根据柔性化作业的需要,设计了一种新型的可重构机器人模块系统。先按功能要求对可重构机器人模块进行划分,并设计了各模块相应的机械结构。然后基于可重构机器人的模块特性,设计了单模块的控制系统,并且重构后的机器人控制系统采用分布式控制结构。最后进行了机器人的运动实验,结果验证了系统的可行性。
Based on the requirement of flexible work, a new kind of module system for reconfigurable modular robot was designed. In this design, the modules of reconfigurable modular robot were divided according to the functional needs, and on the basis of this division the mechanical structure of different modules can be obtained. By the consideration of the robot module characteristic, single module control system was presented and the robot structure after reconfiguration was given. Finally, the robot motion experiments proved the feasibility of this system design.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2008年第2期449-453,共5页
Journal of Jilin University:Engineering and Technology Edition
基金
'863'国家高技术研究发展计划项目(2006AA04Z220)
国家自然科学基金项目(60705027)
关键词
自动控制技术
可重构机器人
模块化
柔性化工作
automatlc control technology
reconfigurable robot
modularization
flexible work
