Reconfigurable Multi-robot System Kinematic Modeling and Motion Planning

被引：0

作者：

Wang Wei ^{[1
]}

Tang Huilin ^{[1
]}

机构：

[1] Beihang Univ, Inst Robot, Beijing, Peoples R China

来源：

2011 6TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA) | 2011年

关键词：

reconfigrable; multirobot system; mobile manipulator; kinematic model; motion planning;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

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.

引用

页码：1672 / 1677

页数：6

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[2]

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[4]

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[6]

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[7]

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