DocumentCode
2638238
Title
Reconfigurable multi-robot system kinematic modeling and motion planning
Author
Wei, Wang ; Huilin, Tang
Author_Institution
Inst. of Robot., Beihang Univ., Beijing, China
fYear
2011
fDate
21-23 June 2011
Firstpage
1672
Lastpage
1677
Abstract
JL-II is a reconfigurable multi-robot system, which consists of three modules with mobile manipulator. To reveal the kinematic cooperation among modules, this paper analyzes the mechanism of each part, including the mobile platform and docking manipulator. The kinematic models are established to present the 3DOF docking manipulator and mobile body in unconnected and connected states. Finally, the paper obtains a suitable and definite inverse solution through presenting a motion planning of a grasping task.
Keywords
manipulator kinematics; mobile robots; multi-robot systems; path planning; 3DOF docking manipulator; JL-II; kinematic models; mobile manipulator; mobile platform; motion planning; reconfigurable multirobot system kinematic modeling; Equations; Joints; Kinematics; Mathematical model; Mobile communication; Robot kinematics; kinematic model; mobile manipulator; motion planning; multirobot system; reconfigrable;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics and Applications (ICIEA), 2011 6th IEEE Conference on
Conference_Location
Beijing
ISSN
pending
Print_ISBN
978-1-4244-8754-7
Electronic_ISBN
pending
Type
conf
DOI
10.1109/ICIEA.2011.5975859
Filename
5975859
Link To Document