Kinematics and force optimization for efficient self-reconfiguration of chain-type modular robots

Carl A. Nelson, Raymond J. Cipra

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The problem of self-reconfiguration planning for chain-type unit-modular robots is a complex one, with many issues yet to be successfully addressed. This paper describes an approach to several sub-problems associated with self-reconfiguration, namely kinematic modeling and analysis, including kinematic constraint satisfaction, and load analysis and redistribution. These issues are addressed in a unified framework whose primary objective is minimization of the time and mechanical energy expended during reconfiguration. Computer simulation efforts are described and results presented.

Original languageEnglish (US)
Title of host publicationProceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences - DETC2005
Subtitle of host publication29th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers
Pages793-801
Number of pages9
ISBN (Print)0791847446, 9780791847442
DOIs
StatePublished - 2005
Externally publishedYes
EventDETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Long Beach, CA, United States
Duration: Sep 24 2005Sep 28 2005

Publication series

NameProceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - DETC2005
Volume7 B

Conference

ConferenceDETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
CountryUnited States
CityLong Beach, CA
Period9/24/059/28/05

Keywords

  • Chain-type robots
  • Force analysis
  • Graph theory
  • Kinematic analysis
  • Modular robots
  • Reconfigurable robots
  • Reconfiguration algorithms
  • Redundant force optimization

ASJC Scopus subject areas

  • Engineering(all)

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