自重构机器人模块间对接位姿的调整  

Pose Adjustment among Modules of a Self-reconfigurable Robot System

作　　者：费燕琼[1] 夏振兴[1] 张鑫[1] 

机构地区：[1]上海交通大学机器人研究所,上海200240

出　　处：《上海交通大学学报》2008年第4期544-547,共4页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金资助项目(50305021;50775145);上海市自然科学基金资助项目(07ZR14050)

摘　　要：给出了一种网格型自重构机器人的基本模块.根据自重构模块化机器人的特点,描述了两模块旋转到位阶段和模块微调对中阶段,设计了一种红外线探测系统,检测两相邻模快相对位姿关系.它是在模块每个连接面上呈90°安置一对红外线传感器,利用红外线发射和接收装置测出两个连接面之间的相对位姿关系,修正两模块的相对位姿误差.仿真实验结果表明,所设计的红外线探测系统能实现模块间更加准确地对中和对接.A basic module of a lattice self-reconfigurable robot system was presented. According to the features of the robot system, the docking process between modules was described and a method which is used to test the pose among modules with IR sensors was proposed. A pair of infrared sensors is vertically located on every connection side of the modules. The relative pose of the two connection sides can be obtained by using the IR emitter and receiver, and the relative pose error can also be adjusted. The method is used to test the pose among modules with IR sensors. The experiment shows that it can realize the alignment and docking between neighbor modules.

关 键 词：自重构机器人 对接 模块 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]