Configuration representation and reconfiguration optimization for the reconfigurable robots with independent manipulation

作     者：WANG MingHui MA ShuGen LI Bin WANG YueChao 

作者机构：State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Department of Robotics Ritsumeikan University Kusatsu-Shi 525-8577 Japan 

出 版 物：《Science in China(Series F)》 (中国科学（F辑英文版）)

年 卷 期：2009年第52卷第4期

页      面：674-687页

核心收录：

学科分类：07[理学] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 070102[理学-计算数学] 0802[工学-机械工程] 0701[理学-数学] 

基　　金：Supported by the National High-Tech Research and Development Program of China (Grant No. 2006AA04Z254) the Scientific Research Fund for Doctor of Liaoning Provice (Grant No. 20071007) 

主　　题：reconfigurable robots with independent manipulation configuration representation reconfiguration optimization 

摘      要：Single module of the reconfigurable robots with independent manipulation can perform the actions of locomotion and manipulation. In conformity with the request for achieving autonomous operation in the unstructurized environment instead of fixed operation in the structurized environment, these robots are applied in the complicated and dangerous environment. The existing researches on the configuration theory focus on the reconfigurable robots with limited locomotion and the ones with independent locomotion, not being applicable to the reconfigurable robots with independent manipulation. The vector configuration is put forward, the research content of which contains the topology and locomotion direction of configuration, the posture and orientation and connection relation between modules. Module state vector and configuration state matrix are proposed for representation methodology for the swarm configuration of these reconfigurable robots, which supports transformation operation to represent and trigger behavior motion of the module and reconfiguration between configurations. Optimization algorithm of assembly reconfiguration applying workload as the optimization target is presented, as well as optimization algorithm of transformation reconfiguration applying the integration of posture_orientation_workload and connection_workload. The result of optimization is the relation of state transformation between the initial configuration and the object one as the basic of reconfigurallon plan and control.