Author:
Fei Yanqiong,Zhao Zigang,Song Libo
Abstract
In this paper a method for the automatic generation
of dynamics for modular robots is presented. A modular reconfigurable
robot consists of link modules and joint modules of various
specifications. We analyze the abstract architecture of modular robots. A
total of nine types of connecting forms and three types
of joint forms are identified with reference to their own
systems. The geometric relationships are derived by the group theory.
According to the modular idea, the formulations of the velocity,
acceleration and other essential equations of the link module and
the joint module are formed compensatively and recursively. Then the
dynamic model is generated automatically by a compensative and recursive
method.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
8 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献