| 新型可重构机器人分布式控制方法的研究 |
| |
| 引用本文： | 赵杰,魏延辉,蔡鹤皋.新型可重构机器人分布式控制方法的研究[J].哈尔滨工业大学学报,2008,40(1):39-42. |
| |
| 作者姓名： | 赵杰 魏延辉 蔡鹤皋 |
| |
| 作者单位： | 哈尔滨工业大学,机器人研究所,哈尔滨,150001 |
| |
| 基金项目： | 国家高技术研究发展计划(863计划)
,
国家自然科学基金 |
| |
| 摘 要： | 基于可重构机器人的机械、电气、驱动的模块化特点,建立机器人分布式控制系统.提出了分布式控制算法,采用变步距的方法,提高算法的迭代速度和精度;通过微分凑整的方法,解决模块运动抖动问题;提高模块的智能判断力,减少迭代的时间,提高控制的效率.基于算法规划控制的工作过程,最后进行仿真试验,验证可重构机器人分布式控制的实用性和可行性.
|
| 关 键 词： | 可重构机器人 模块化 分布式控制 |
| 文章编号： | 0367-6234（2008）01-0039-04 |
| 收稿时间： | 2006-03-03 |
| 修稿时间： | 2006年3月3日 |
Distributed control method of new type reconfigurable modular robot |
| |
| ZHAO Jie,WEI Yan-hui,CAI He-gao.Distributed control method of new type reconfigurable modular robot[J].Journal of Harbin Institute of Technology,2008,40(1):39-42. |
| |
| Authors: | ZHAO Jie WEI Yan-hui CAI He-gao |
| |
| Affiliation: | (Robot Research Institute,Harbin Institute of Technology,Harbin 150001,China) |
| |
| Abstract: | The distributed control system of the reconfigurable robot was established based on its mechanical,electrical and driving modularization.The algorithm of the distributed control was developed as follows:changing the distance of steps to improve the rapidity and the precision of the algorithm;using differential coefficient rounding method to solve the wobbling problem when the robot moved;improving the intelligence of the modules to reduce iterative time and improve efficiency.The practicability and the feasibility of the distributed control system were confirmed based on the simulation experiments,in which the robot’s working process was laid out according to the algorithm. |
| |
| Keywords: | reconfigurable modular robot modularization distributed control |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
