Title :
Dynamically reconfigurable robotic system
Author :
Fukuda, Toshio ; Nakagawa, Seiya
Author_Institution :
Dept. of Mech. Eng., Sci. Univ. of Tokyo, Japan
Abstract :
The concept of the DRRS (dynamically reconfigurable robotic system) based on a cell structure is proposed for the next generation of robotic systems. The system can reorganize its configuration and its software to a given task, so that its level of flexibility and adaptability is much higher than that of the conventional robots. It consists of a lot of intelligent cells that have a fundamental mechanical function. Each cell can detach itself and recombine autonomously, depending on a task, e.g. To provide manipulators or mobile robots. The system can also be self-repairing and fault-tolerant. A decision method for cell-structured-manipulator configurations is proposed
Keywords :
computerised control; robots; adaptability; cell structure; cell-structured-manipulator; concept; dynamically reconfigurable robotic system; fault-tolerant; flexibility; intelligent cells; self-repairing; Cells (biology); Fault tolerance; Hardware; Intelligent robots; Intelligent structures; Manipulators; Mobile robots; Orbital robotics; Robotics and automation; Shape;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12291
