NDLI: The First Step in a Self-Assembling Process in a System: A Picking-Up a Module Algorithm

Content Provider	IEEE Xplore Digital Library
Author	Myunghee Kim
Copyright Year	2007
Description	Author affiliation: Massachusetts Inst. of Technol., Cambridge (Myunghee Kim)
Abstract	This paper mainly presents a simple and robust picking up a module algorithm based on subsumption architecture, wireless communications between modules, order analysis, and robot arm dynamics for a novel concept of self-assembling robots in a system (SRS). The system consists of multiple cooperative robots that are designed to self-assemble in a system, executing manipulative tasks, and self-repair, all without human assistance. The developed algorithm allows attaching a module without changing parameters to perform work. The robot is characterized by the following designs for self-assembling: an independent module, one touch assembly design, self-alignment, self-guiding, and independent module designs, which comprise independent motor control boards and a wireless communications board. We accomplished disturbance rejection without control by a motor with a large gear ratio. With the results of dynamic simulations and order analysis, we developed a preliminary algorithm for picking up a module based on subsumption architecture. Finally, we verified the design and algorithm via an application, picking up a module in unstructured environments.
Starting Page	608
Ending Page	613
File Size	5200171
Page Count	6
File Format	PDF
ISBN	1424410754
DOI	10.1109/ICNSC.2007.372848
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-15
Publisher Place	UK
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Algorithm design and analysis Robots Wireless communication Robotic assembly Robustness Humans Joining processes Motor drives Communication system control Gears
Content Type	Text
Resource Type	Article

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