Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
Equivalent Fixed Shape Robot Model of a Modular Robot Configuration based on Module Characterization
Year:2011
Research Areas
  • Engineering,
  • Electric engineers, electronic and automatic (eil)
Information
Abstract
The modeling of a modular robot system is complex due to its capability of changing and forming countless robot configurations with a set of modules. The greater the number of modules added to the structure, more complicated is the robot and its modeling. A methodology to represent modular robot configurations as a fixed shape robot is presented. The equivalent model is obtained through the characterization of the module, graph theory and geometric modeling of robots. After the transformation, the resulting kinematic and dynamic parameters are similar to the traditional model of a single configuration robot. Once the equivalent model is obtained, it can be used within different robot applications.
International
Si
Congress
Robotics and Automation (ICRA), 2011 IEEE International Conference on
960
Place
Shanghai
Reviewers
Si
ISBN/ISSN
1050-4729
10.1109/ICRA.2011.5980352
Start Date
09/05/2011
End Date
13/05/2011
From page
1026
To page
1031
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Participants
  • Autor: Jose Antonio Baca Garcia (UPM)
  • Autor: Manuel Ferre Perez (UPM)
  • Autor: Rafael Aracil Santonja (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robots y máquinas inteligentes
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
S2i 2019 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)