| 可重构模块化机器人分布式控制算法研究 |
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| 引用本文： | 刘明尧,谭跃刚,周祖德,胡业发. 可重构模块化机器人分布式控制算法研究[J]. 武汉理工大学学报(信息与管理工程版), 2005, 27(1): 6-9,21 |
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| 作者姓名： | 刘明尧 谭跃刚 周祖德 胡业发 |
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| 作者单位： | 1. 武汉理工大学,机电工程学院,湖北,武汉,430070;长江大学,机械工程学院,湖北,荆州,434023
2. 武汉理工大学,机电工程学院,湖北,武汉,430070 |
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| 基金项目： | 重庆市邮政自动化控制技术重点实验室开放基金资助项目(20030F02). |
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| 摘 要： | 可重构机器人是基于一套事先设计好的模块，并根据特定任务的要求选择的一组模块装配成的机器人。为了实现快速重构，可重构模块化机器人不仅要实现机械结构构形的快速重构而且要实现控制系统的快速重构。根据多Agent理论中协商合作机制和机器人结构的分布性，可重构模块化机器人采用基于多Agent的分布式体系结构。利用微分运动理论提出了一种分布式控制算法，它能够适应三维空间的控制要求，从理论上证明了这种算法的收敛性。
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| 关 键 词： | 可重构模块化机器人 分布式控制 控制算法 |
| 文章编号： | 1007-144X(2005)01-0006-04 |
A Distribution Control Algorithm for Reconfigurable Modular Robots |
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| Liu Mingyao,Tan Yuegang,Zhou Zude,Hu Yefa Liu Mingyao: Postdoctor, School of Mechanical and Electrical Engineering,WUT,Wuhan ,China.. A Distribution Control Algorithm for Reconfigurable Modular Robots[J]. Journal of Wuhan University of Technology(Information & Management Engineering), 2005, 27(1): 6-9,21 |
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| Authors: | Liu Mingyao Tan Yuegang Zhou Zude Hu Yefa Liu Mingyao: Postdoctor School of Mechanical Electrical Engineering WUT Wuhan China. |
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| Affiliation: | Liu Mingyao,Tan Yuegang,Zhou Zude,Hu Yefa Liu Mingyao: Postdoctor, School of Mechanical and Electrical Engineering,WUT,Wuhan 430070,China. |
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| Abstract: | A reconfigurable modular robot is the one assembled based on a set of modules selected from the predefined modular platform in order to accomplish certain tasks. To realize rapid reconfiguration, a reconfigurable modular robot must reconfigure not only the mechanical structure configuration, but also the control system. According to negotiation and cooperation mechanisms in multi-agent system theory and the structure distribution of robots, a reconfigurable modular robot adopts multi-agent distributed control system architecture. Based on differential kinematics theory, a distributed control algorithm is put forward and is theoretically proved to be convergent. This algorithm can adapt to position control in SE (3) space. |
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| Keywords: | reconfigurable modular robot distributed control control algorithm |
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