System Design and Kinematic Analysis to Motion Control for RPRS

Author

Wang, Minghui ; Ma, Shugen ; Li, Bin ; Wang, Yuechao ; Zhang, Liping

Author_Institution

Shenyang Inst. of Autom., Chinese Acad. of Sci., Shenyang

Volume

2

fYear

0

fDate

0-0 0

Firstpage

9154

Lastpage

9158

Abstract

This paper addresses the modularized structure of the control system and kinematic analysis to motion control for a new planetary rover, reconfigurable planetary robot system (RPRS). In the RPRS, a child-robot with a 6-DOF arm and a wheel can independently locomote and manipulate. Furthermore, the child-robots have self-reconfiguration capability so that multiple child-robots can construct and reconfigure to diverse configurations. Based on distributed controller and CAN, the structure and functions of the control system are decomposed to different modules with independent controllers. The control flow with distributed computation is introduced. The kinematic and inverse kinematic solutions are both educed. The results of this research are also demonstrated through the simulation and experiments of the prototypes

Keywords

dexterous manipulators; distributed control; manipulator kinematics; mobile robots; motion control; planetary rovers; remotely operated vehicles; 6-DOF arm; child robot; distributed controller; kinematic analysis; motion control; planetary rover; reconfigurable planetary robot system; system design; Computational modeling; Control systems; Distributed computing; Distributed control; Kinematics; Mobile robots; Motion control; System analysis and design; Virtual prototyping; Wheels; RPRS; inverse kinematic solution; kinematic analysis; modularized control structure;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1713771

Filename

1713771