System design and kinematic analysis to motion control for RPRS

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	System design and kinematic analysis to motion control for RPRS
	Wang MH(王明辉); Ma SG(马书根); Li B(李斌); Wang YC(王越超); Zhang LP(张力平)
	2006
会议名称	6th World Congress on Intelligent Control and Automation
会议日期	June 21-23, 2006
会议地点	Dalian, China
关键词	RPRS modularized control structure kinematic analysis inverse kinematic solution
页码	9154-9158
通讯作者	王明辉
中文摘要	This paper addresses the modularized structure of the control system and kinematic analysis to motion control for a new planetary rover, Reconfigurable Planetary Robot System (RPRS). In the RPRS, a child-robot with a 6-DOF arm and a wheel can independently locomote and manipulate. Furthermore, the child-robots have self-reconfiguration capability so that multiple child-robots can construct and reconfigurable to diverse configurations. Based on distributed controller and CAN, the structure and functions of the control system are decomposed to different modules with independent controllers. The control flow with distributed computation is introduced. The kinematics and inverse kinematic solutions are both educed. The results of this research are also demonstrated through the simulation and experiments of the prototypes.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	Dalian Univ Technol, Northeastern Univ, Dalian Maritime Univ, Shanghai Baosight Software Co Ltd, IEEE Robot & Automat Soc, Natl Nat Sci Fdn China, Chinese Assoc Automat, IEEE Control Syst Soc, Beijing Chapter, Minist Educ China, Grandar Robot Co Ltd, Yokogawa Elect Corp, KC Wong Educ Fdn, Siemens Ltd
会议录	WCICA 2006: Sixth World Congress on Intelligent Control and Automation, Vols 1-12, Conference Proceedings
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	1-4244-0331-6
WOS记录号	WOS:000241773209267
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8896]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Wang MH,Ma SG,Li B,et al. System design and kinematic analysis to motion control for RPRS[C]. 见:6th World Congress on Intelligent Control and Automation. Dalian, China. June 21-23, 2006.