基于多机器人的运动控制平台在刚体对接系统中的应用

Application of Multi-robot Based Motion Control Platform to Rigid Body Merging System

摘要: 针对刚体对接系统，引入虚拟分段概念，分段位姿测量技术．在统一的世界坐标框架内，建立了平台的运动学模型，导出了多机器人的协调运动方案．该方案在基于多机器人的运动平台控制中具有广泛的适用性．

Abstract: A platform based on multi-robot is introduced.As to merging system,the techology of position-orientation measurement is presented.Under world coordinates,the kinematics model of the platform is constructed.The motion scheme of the multi-robot is deduced,which can be used widely in the control of multi-robot motion platform.