System design and kinematic analysis to motion control for RPRS

Document Type

Conference Proceeding

Publication Date

12-1-2006

Abstract

This paper addresses the modularized structure of the control system and kinematic analysis to motion control for a new planetary rover, Reconfigurable Planetary Robot System (RPRS). In the RPRS, a child-robot with a 6-DOF arm and a wheel can independently locomote and manipulate. Furthermore, the child-robots have self-reconfiguration capability so that multiple child-robots can construct and reconfigure to diverse configurations. Based on distributed controller and CAN, the structure and functions of the control system are decomposed to different modules with independent controllers. The control flow with distributed computation is introduced. The kinematic and inverse kinematic solutions are both educed. The results of this research are also demonstrated through the simulation and experiments of the prototypes. © 2006 IEEE.

Publication Source (Journal or Book title)

Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

First Page

9154

Last Page

9158

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