王靖, 李斌, 马书根, 刘金国. 模块化可变形机器人控制系统设计与变形方法研究[J]. 机器人, 2006, 28(5): 457-462.
引用本文: 王靖, 李斌, 马书根, 刘金国. 模块化可变形机器人控制系统设计与变形方法研究[J]. 机器人, 2006, 28(5): 457-462.
WANG Jing, LI Bin, MA Shu-gen, LIU Jin-guo. Control System Design and Shape Shifting Method for a Modular Shape-shifting Robot[J]. ROBOT, 2006, 28(5): 457-462.
Citation: WANG Jing, LI Bin, MA Shu-gen, LIU Jin-guo. Control System Design and Shape Shifting Method for a Modular Shape-shifting Robot[J]. ROBOT, 2006, 28(5): 457-462.

模块化可变形机器人控制系统设计与变形方法研究

Control System Design and Shape Shifting Method for a Modular Shape-shifting Robot

  • 摘要: 介绍了模块化可变形机器人控制系统的整体结构.控制系统的硬件和软件均采用了模块化结构的设计,增强了整个系统的可扩展性和容错性.针对该机器人的机构特点提出了一种新的变形方法——协同变形法.实验验证了控制系统的有效性和协同变形法的优越性.

     

    Abstract: Framework of the modular shape-shifting robot control system is introduced.Modular design is adopted in both hardware and software of the control system,and the expansibility and fault tolerance of the whole system are improved.A new shape-shifting method,i.e.the cooperative shape-shifting method,is proposed based on the characteristics of the robot mechanism.Validity of the control system and superiority of cooperative shape-shifting method are proved by experiment.

     

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