Title :
New Type Reconfigurable Modular Robot Design and Intelligent Control Method Research
Author :
Zhao, Jie ; Wei, Yanhui ; Fan, Jizhuang ; Shen, Jun ; Cai, Hegao
Author_Institution :
Inst. of Robot Res., Harbin Inst. of Technol.
Abstract :
A new type of reconfigurable modular robot is developed. This robot has some characteristics: realize modularization in the structure, the electrical, the drive, the kinematics and dynamic performance. It can construct the work topology rapidly according to the actual need and complete tasks in real time. The control method of reconfigurable modular robot is researched according to these characteristics. Taking the single module as the Agent model, the intelligent control system of the robot is established, and the control algorithm of the robot is researched emphatically to prove its astringency. Finally the analyses of the simulation experiment are made
Keywords :
control system synthesis; distributed control; intelligent control; robot dynamics; robot kinematics; agent model; distributed control; intelligent control; reconfigurable modular robot design; robot dynamics; robot kinematics; work topology; Analytical models; Automation; Distributed control; Intelligent control; Intelligent robots; Kinematics; Topology; agent; distributed control; modularization; reconfigurable modular robot;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1713722
