Design and Realization of Control System for Reconfigurable Multi-segment Robot

被引：0
|
作者：
Wang, Wei [1 ]
Xia, Jie [1 ]
Deng, Zhicheng [2 ]
机构：
[1] Beihang Univ, Inst Robot, Beijing 100083, Peoples R China
[2] Nokia China Invest CO LTD, Nokia Res Ctr, Beijing 100083, Peoples R China
来源：
2008 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS, VOLS 1-6 | 2008年
关键词：
Control System; Software Architecture; Reconfigurable Robot;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Multi-segment robot's 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.
引用
收藏
页码：123 / +
页数：2
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