TY - JOUR
T1 - Automatic kinematic modelling of a modular reconfigurable robot
AU - Liu, Lianqing
AU - Iwata, Hiroyasu
AU - Pan, Xinan
AU - Wang, Hongguang
AU - Jiang, Yong
AU - Xiao, Jizhong
N1 - Funding Information:
This work was supported by the National High Technology Research and Development Program of China (863 Program; grant number 2007AA041703) and the National Natural Science Foundation of China (grant number 60905048).
PY - 2013/10
Y1 - 2013/10
N2 - This paper focuses on the automatic generation of forward kinematics of a kind of modular reconfigurable robot. Based on the modularized division of robots and the communication between the host and the modules, a configuration recognition method is proposed. By using the graph theory, the method of topological analysis is proposed, and the assembly incidence matrix (AIM) and path matrix are derived. Subsequently, based on the results of topological analysis and the definition of module frames, the initial poses and twists of a robot are obtained. To deal with the multi-chain robots, the entries of the path matrix are employed to enable dyads to appear or not to appear in the kinematic equations. Then, the forward kinematics of the multi-chain robot is derived. An illustrative example and an experiment are presented. The results show that the method is valid and suitable for both single-open-chain robots and multi-chain robots.
AB - This paper focuses on the automatic generation of forward kinematics of a kind of modular reconfigurable robot. Based on the modularized division of robots and the communication between the host and the modules, a configuration recognition method is proposed. By using the graph theory, the method of topological analysis is proposed, and the assembly incidence matrix (AIM) and path matrix are derived. Subsequently, based on the results of topological analysis and the definition of module frames, the initial poses and twists of a robot are obtained. To deal with the multi-chain robots, the entries of the path matrix are employed to enable dyads to appear or not to appear in the kinematic equations. Then, the forward kinematics of the multi-chain robot is derived. An illustrative example and an experiment are presented. The results show that the method is valid and suitable for both single-open-chain robots and multi-chain robots.
KW - Kinematics
KW - graph theory
KW - modular reconfigurable robot
KW - screw theory
KW - topological analysis
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U2 - 10.1177/0142331212459538
DO - 10.1177/0142331212459538
M3 - Article
AN - SCOPUS:84884173002
VL - 35
SP - 922
EP - 932
JO - Transactions of the Institute of Measurement and Control
JF - Transactions of the Institute of Measurement and Control
SN - 0142-3312
IS - 7
ER -