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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Liping Zhang Shugen Ma Bin Li Zheng Zhang Zaili Dong Binggang Cao |
| Copyright Year | 2004 |
| Description | Author affiliation: Sch. of Mech. Eng., Xi'an Jiaotong Univ., China (Liping Zhang; Shugen Ma) |
| Abstract | Docking is an essential function for reconfigurable planetary robot system (RPRS), it supports almost all metamorphic characteristics of the system. This paper presents a space docking method for self-reconfigurable modular robot system. The method adopts a position sensory detector (PSD) to get the space geometrical relation between modular child robots. By using the kinematics and inverse kinematics modeling of the child robot, a docking control algorithm is developed to achieve space dock automatically. To validate the method, simulation experiments were done on a platform based on OPENGL, and the simulating results were given as well. |
| Starting Page | 278 |
| Ending Page | 282 |
| File Size | 842145 |
| Page Count | 5 |
| File Format | |
| ISBN | 0780386531 |
| DOI | 10.1109/ICARCV.2004.1468837 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2004-12-06 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robotics and automation Orbital robotics Robot sensing systems Detectors Kinematics Robotic assembly Mobile robots Oceans Optical receivers Infrared sensors |
| Content Type | Text |
| Resource Type | Article |
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