Title :
Reconfigurable multi-robot system kinematic modeling and motion planning
Author :
Wei, Wang ; Huilin, Tang
Author_Institution :
Inst. of Robot., Beihang Univ., Beijing, China
Abstract :
JL-II is a reconfigurable multi-robot system, which consists of three modules with mobile manipulator. To reveal the kinematic cooperation among modules, this paper analyzes the mechanism of each part, including the mobile platform and docking manipulator. The kinematic models are established to present the 3DOF docking manipulator and mobile body in unconnected and connected states. Finally, the paper obtains a suitable and definite inverse solution through presenting a motion planning of a grasping task.
Keywords :
manipulator kinematics; mobile robots; multi-robot systems; path planning; 3DOF docking manipulator; JL-II; kinematic models; mobile manipulator; mobile platform; motion planning; reconfigurable multirobot system kinematic modeling; Equations; Joints; Kinematics; Mathematical model; Mobile communication; Robot kinematics; kinematic model; mobile manipulator; motion planning; multirobot system; reconfigrable;
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2011 6th IEEE Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-8754-7
Electronic_ISBN :
pending
DOI :
10.1109/ICIEA.2011.5975859
