DocumentCode :
2993646
Title :
Design and realization of control system for reconfigurable multi-segment robot
Author :
Wang, Wei ; Xia, Jie ; Deng, Zhicheng
Author_Institution :
Robot. Inst., Beihang Univ., Beijing
fYear :
2008
fDate :
1-3 Sept. 2008
Firstpage :
123
Lastpage :
128
Abstract :
Multi-segment robotpsilas adaptation to rough terrain is much better than traditional single robot, because of the force cooperation between segments. One kind of multi-segment robot can undock to modules, which have the ability of locomotion and perform some simple tasks. JL-1 robot is one of this kind of robots. The most notable characteristics of this robot are module-based and reconfigurable, which require the control system of this robot to meet some special tasks. In this paper, we propose a distributed control system with two levels of hardware controllers and module hierarchical software architecture to fulfill the demands of information sharing, force cooperation and non-contradictive velocity control. Furthermore, the results of experiment are shown to demonstrate its performance.
Keywords :
adaptive control; control system synthesis; distributed control; mobile robots; motion control; multi-robot systems; software architecture; velocity control; JL-1 robot; distributed control system design; force cooperation; hardware controller; information sharing; module hierarchical software architecture; motion control; noncontradictive velocity control; reconfigurable multi segment robot adaptation; robot locomotion; rough terrain; Centralized control; Control systems; Distributed control; Force control; Mobile robots; Robot control; Robot sensing systems; Robotics and automation; Velocity control; Wheels; Control System; Reconfigurable Robot; Software Architecture;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Automation and Logistics, 2008. ICAL 2008. IEEE International Conference on
Conference_Location :
Qingdao
Print_ISBN :
978-1-4244-2502-0
Electronic_ISBN :
978-1-4244-2503-7
Type :
conf
DOI :
10.1109/ICAL.2008.4636132
Filename :
4636132
Link To Document :
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