로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제11권4호
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  • Pages.270-276
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  • 2016
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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모듈러 로봇의 작업 적응성을 위한 자가 재구성 제어 엔진

Design of Self-Reconfigurable Kinematics and Control Engine for Modular Robot

  • Do, HyunMin (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Choi, Tae-Yong (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Park, DongIl (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Kim, DooHyeong (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Son, Youngsu (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials)
  • 투고 : 2016.09.13
  • 심사 : 2016.10.31
  • 발행 : 2016.11.30
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초록

This paper proposes a design methodology of self-reconfigurable kinematics and control engine for modular and reconfigurable robots. A modular manipulator has been proposed to meet the requirement of task adaptation in versatile needs for service and industrial robot area and the function of self-reconfiguration is required to extend the application of modular robots. Kinematic and dynamic contexts are extracted from the module and assembly information and related codes are automatically generated including controller. Thus a user can easily build and use a modular robot without professional knowledge. Simulation results are presented to verify the validity of the proposed method.

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참고문헌

  1. K. Gilpin and D. RUS, "Modular Robot Systems," IEEE Robotics & Automation Magazine, vol.17, no.3, pp.38-55, 2010. https://doi.org/10.1109/MRA.2010.937859
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피인용 문헌

  1. Design of High Payload Dual Arm Robot with Replaceable Forearm Module for Multiple Tasks: Human Rescue and Object Handling vol.12, pp.4, 2017, https://doi.org/10.7746/jkros.2017.12.4.441
  2. 다시점 객체 공분할을 이용한 2D-3D 물체 자세 추정 vol.12, pp.1, 2016, https://doi.org/10.7746/jkros.2017.12.1.033