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
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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.