[1]潘新安,王洪光,姜勇,等.一种模块化可重构机器人系统的研制[J].智能系统学报,2013,8(4):292-298.[doi:10.3969/j.issn.1673-4785.201212053]
PAN Xin,an,WANG Hongguang,et al.Development of a modular reconfigurable robot system[J].CAAI Transactions on Intelligent Systems,2013,8(4):292-298.[doi:10.3969/j.issn.1673-4785.201212053]
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PAN Xin,an,WANG Hongguang,et al.Development of a modular reconfigurable robot system[J].CAAI Transactions on Intelligent Systems,2013,8(4):292-298.[doi:10.3969/j.issn.1673-4785.201212053]
一种模块化可重构机器人系统的研制
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
8
期数:
2013年第4期
页码:
292-298
栏目:
学术论文—智能系统
出版日期:
2013-08-25
- Title:
- Development of a modular reconfigurable robot system
- 文章编号:
- 1673-4785(2013)04-0292-07
- Keywords:
- modular reconfigurable robot; module division and reconfiguration; joint module; application software; design example
- 分类号:
- TP242
- 文献标志码:
- A
- 摘要:
- 在教育和科研领域中，为使机器人兼有较好的重构能力与操作性能，研制了一种模块化可重构机器人系统MRRES.提出了一种机器人模块划分及重构的方法，构建出机器人模块库，研制出集成传动、控制及传感于一体的系列化关节模块.基于Open GL和VC++开发了具有建模、仿真和运动控制功能的应用软件MRR-SIM.给出了一个基于任务和模块库的机器人设计实例，进行了实验测试.实验结果表明，MRRES系统模块划分和设计合理，机器人在保证重构能力的同时具有较好的操作性能，可应用于教育和科研等领域.
- Abstract:
- To obtain both high reconfiguration ability and manipulating performance for applications in education and research areas, a modular reconfigurable robot experimental system (MRRES) was developed. First, a module division and reconfiguration method was proposed, next a module library was established, and then a series of joint modules with integrated transmission, control, and sensing systems were developed. Based on Open GL and VC++, the software MRR-SIM incorporating the functions of modeling, simulation, and motion control was developed. A task-and-module-library based illustrative example was presented, and finally a robot was tested. The results of the experiments show that the proposed division method and the design of the MRRES are appropriate, the high reconfiguration ability and high manipulating performance were achieved, and the system was applicable to the applications in education and research settings.
- 参考文献/References:
-
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备注/Memo
收稿日期：20121227.???? 网络出版日期：20130621.
基金项目：国家“863”计划资助项目（2012AA041401）；国家自然科学基金资助项目（60905048）.
通信作者：潘新安. E-mail: panxinan@sia.cn
作者简介：
潘新安，男，1982年生，博士研究生，主要研究方向为机器人机构学.
王洪光，男，1965年生，研究员，博士生导师，主要研究方向为机器人机构学、特种机器人和机电一体化技术等.发表学术论文50余篇，获得发明和实用新型专利20余项.
姜勇，男，1975年生，副研究员，博士，主要研究方向机器人控制、智能控制理论与方法、嵌入式控制系统、特种机器人系统与应用等.发表学术论文20余篇.参与编写专著2部.
更新日期/Last Update:
2013-09-23