Configuration representation of a link-type self-reconfigurable mobile robot

Jinguo Liu, Shugen Ma, Yuechao Wang, Bin Li, Cong Wang
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引用次数: 2

Abstract

In this paper, we present a four-layered representing architecture for the configurations of a link-type reconfigurable mobile robot. Decimal numbers are used to represent all these possibilities in joint space. Binary codes are introduced to represent the links with consideration of adjacent interventions. To find out all the mobile configurations completely and accurately, configuration matrices are proposed to represent the configurations physically and to detect the multi-module interventions. Lastly, we take a three-module self-reconfigurable robot, AMOEBA-I, as an example to validate the proposed four-layered approach.
链路型自重构移动机器人的组态表示
本文提出了一种链路型可重构移动机器人构型的四层表示结构。十进制数用来表示关节空间中的所有这些可能性。引入二进制代码来表示考虑相邻干预的链接。为了完整而准确地找出所有的移动配置,提出了配置矩阵来物理表示配置,并检测多模块干预。最后,我们以一个三模块自重构机器人AMOEBA-I为例验证了所提出的四层方法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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