Two-dimensional PSD based automatic docking of self-reconfiguration modular exploration robot system  

作　　者：Zhang Liping Ma Shugen Li Bin Zhang Zheng Cao Binggang 

机构地区：[1]School of Construction Machinery, Chang＇an University, Xi＇an 710064, China [2]Robotics Laboratory, Shenyang Institute of Automation, Shenyang 110016, China [3]COE Research Institute, Ritsumeikan University, Shiga-ken 525-8577, Japan [4]School of Mechanical Engineering, Xi＇an Jiaotong University, Xi＇an 710049, China

出　　处：《仪器仪表学报》2007年第7期1198-1204,共7页Chinese Journal of Scientific Instrument

基　　金：Supported by the National High Technology Research and Development Program of China(2002AA422130)

摘　　要：Based on the design of a docking mechanism,this paper thoroughly investigates the space automatic doc- king of self-reconfiguration modular exploration robot system(RMERS).The method that leads robot to achieve space docking by using two-dimensional PSD is put forward innovatively for the median size robot system.At the same time,in order to enlarge the detecting extension and the precision of PSD and reduce its dependence on light- ing signal,the PSD was remade by increasing the optical device over its light-sensitive surface.The emission board and LED light scheduling were designed according to docking arithmetic,and the operating principle of docking process was analyzed based on these.The simulation experiments were carried out and their results are presented.Based on the design of a docking mechanism, this paper thoroughly investigates the space automatic docking of self-reconfiguration modular exploration robot system （RMERS）. The method that leads robot to achieve space docking by using two-dimensional PSD is put forward innovatively for the median size robot system. At the same time, in order to enlarge the detecting extension and the precision of PSD and reduce its dependence on lighting signal, the PSD was remade by increasing the optical device over its light-sensitive surface. The emission board and LED light scheduling were designed according to docking arithmetic, and the operating principle of docking process was analyzed based on these. The simulation experiments were carried out and their results are presented.

关 键 词：位置检测器 机器人 对接机构 自动对接 重新配置 二维相位灵敏调解器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]