Computer-aided configuration of modular robotic systems

Author

Hooper, Richard ; Tesar, Delbert

Author_Institution

Dept. of Mech. Eng., Texas Univ., Austin, TX, USA

Volume

5

Issue

3

fYear

1994

fDate

6/1/1994 12:00:00 AM

Firstpage

137

Lastpage

142

Abstract

A system has been developed to interactively assemble modular and reconfigurable robotic systems in a computer animation environment. The modular robot is based on a set of one, two and three degree of freedom joint modules and generic links. These modules may be assembled into a large class of robotic systems that include serial, parallel, mobile and hybrid configurations. A model of the configured robotic system is immediately available for use in a wide variety of robotics research areas, including: obstacle avoidance, redundant inverse kinematics, dynamic simulations, mobile platforms and world model databases.<>

Keywords

computer animation; control system CAD; control system analysis computing; digital simulation; interactive systems; robots; computer animation; computer-aided robot configuration; dynamic simulations; generic links; hybrid configurations; interactive system; joint modules; mobile configurations; mobile platforms; modular robotic systems; obstacle avoidance; parallel configuration; reconfigurable robotic systems; redundant inverse kinematics; serial configuration; world model databases; Animation; Control systems; Design automation; Interactive systems; Robots; Simulation;

fLanguage

English

Journal_Title

Computing & Control Engineering Journal

Publisher

iet

ISSN

0956-3385

Type

jour

DOI

10.1049/cce:19940309

Filename

289496