M-Cubes自重构机器人系统动态模型描述方法研究  

Study on Description of Dynamic Model System for Self-reconfigurable M-Cubes

作　　者：吴秋轩[1] 刘士荣[1] 曹广益[2] 

机构地区：[1]杭州电子科技大学,杭州310018 [2]上海交通大学,上海200030

出　　处：《中国机械工程》2008年第19期2273-2278,共6页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(60675043/F030601);浙江省科技厅面上项目(2007c21g2040033);杭州电子科技大学科研启动基金资助项目(KYS041507054)

摘　　要：从模块、构型对M-Cubes自重构机器人进行了分析,用特征向量对模块的当前外部状态进行了描述;用元模块缓解单元模块的运动约束,增强模块的运动能力,并对元模块的状态进行了描述。静态构型引入了通信网络、能量网络、计算网络;动态构型引入动态图、元胞自动机,动态描述系统构型。模块个体和构型的分别描述提高了整个系统的认知程度,仿真试验表明,该方法是有效的。Self--reconfigurahle M--Cubes was anatyzed from tion of system. Exterior states of module were described by eigenvector. Meta-module was utilized to relax the constraint of motion and enhanced the ability of motion for unit module; the states of meta--module were described by eigenvector too. Communication network, energy network and computation network were introduced into static configuration of system. Dynamic graph and cellular automata were introduced to describe dynamically the system configuration. Unit module and configuration were separately described to improve the cognition of system. The simulation shows that the method of description was effective.

关 键 词：自重构机器人 元模块 元胞自动机 动态描述 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]