Abstract
Aiming at the problem that there are no unified methods for solving kinematics of reconfigurable modular robots, a way of matching configuration plane is presented. Based on the improved modeling method of D-H, kinematics models of reconfigurable modular robots can be formed automatically. Then, inverse kinematics solutions to the reconfigurable modular robots can be obtained in single tandem form through matching tertiary configurable planes after dividing the configurations of robots at objective points into a few configuration planes. Finally, simulation on robots with 6-DOF and 8-DOF are carried out, and the result validates the reliability and practicality of this method.
| Original language | English |
|---|---|
| Pages (from-to) | 133-137 |
| Number of pages | 5 |
| Journal | Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology |
| Volume | 42 |
| Issue number | 1 |
| State | Published - Jan 2010 |
Keywords
- Configuration plane
- Kinematics
- Reconfigurable modular robots
Fingerprint
Dive into the research topics of 'A solution method for kinematics of reconfigurable modular robots'. Together they form a unique fingerprint.Cite this
- APA
- Author
- BIBTEX
- Harvard
- Standard
- RIS
- Vancouver