Research on kinematics of modular reconfigurable robots

Author

Pan, Xinan ; Wang, Hongguang ; Jiang, Yong ; Yu, Cen

Author_Institution

State Key Lab. of Robot., CAS, Shenyang, China

fYear

2011

fDate

20-23 March 2011

Firstpage

91

Lastpage

96

Abstract

This paper mainly focuses on the kinematics of multi-branch modular reconfigurable robots. A method of generating the forward kinematics is proposed. Firstly, the robot is divided into joints and links, which are formed dyads subsequently. Secondly, module frames are defined and attached to each connector of modules. Thirdly, based on screw theory and Lie group and Lie algebra, the initial poses and twists of a multi-branch robot are obtained, and the kinematic equations of the robot are derived. An illustrative example and an experiment are implemented, respectively, and the results show that the method is valid and suitable for both single-open-chain robots and multi-branch robots.

Keywords

Lie algebras; robot kinematics; Lie algebra; Lie group; forward kinematics; kinematic equations; multibranch modular reconfigurable robots; robot kinematics; screw theory; single-open-chain robots; Algebra; Connectors; Equations; Joints; Kinematics; Robot kinematics; initial pose; kinematics; modular reconfigurable robot; screw theory; twist;

fLanguage

English

Publisher

ieee

Conference_Titel

Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), 2011 IEEE International Conference on

Conference_Location

Kunming

Print_ISBN

978-1-61284-910-2

Type

conf

DOI

10.1109/CYBER.2011.6011770

Filename

6011770