Research on Algebraic Configuration Description Method and kinematical modeling for Modular Robot
Authors
Xiao Li, Hanxu Sun, Linjing Liao, Jingzhou Song
Corresponding Author
Xiao Li
Available Online July 2017.
- DOI
- 10.2991/icadme-16.2016.41How to use a DOI?
- Keywords
- Modular robot, Configuration Description Method, Kinematics.
- Abstract
We propose a new algebraic configuration description method (ACDM) for the modular robot. The ACDM can describe each mechanical configuration in the robotic configuration parameters, and make up for the inadequacy of D-H method in multiple configuration. The algebraic configuration description method support complicated calculation about the parameters in joint level. The configuration algebraic expression and kinematic model are established in this paper for the modular robot. And kinematical modeling and simulation results show that the algebraic configuration description method is effective.
- Copyright
- © 2016, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Xiao Li AU - Hanxu Sun AU - Linjing Liao AU - Jingzhou Song PY - 2017/07 DA - 2017/07 TI - Research on Algebraic Configuration Description Method and kinematical modeling for Modular Robot BT - Proceedings of the 2016 6th International Conference on Advanced Design and Manufacturing Engineering (ICADME 2017) PB - Atlantis Press SP - 272 EP - 275 SN - 2352-5401 UR - https://doi.org/10.2991/icadme-16.2016.41 DO - 10.2991/icadme-16.2016.41 ID - Li2017/07 ER -