模塊化可重構(gòu)機器人由若干個相同的機器人模塊組合裝配而成，能夠重構(gòu)成不同的幾何形態(tài)和結(jié)構(gòu)，從而適應不同的作業(yè)任務要求。本論文主要對樹狀拓撲結(jié)構(gòu)的模塊化機器人的重構(gòu)規(guī)劃問題進行了研究，定義了構(gòu)型重構(gòu)的基本概念，提出了分支重構(gòu)規(guī)劃算法。這類模塊化可重構(gòu)機器人可以用樹狀拓撲結(jié)構(gòu)圖來描述。機器人的拓撲結(jié)構(gòu)從自由樹轉(zhuǎn)化為有根樹，然后分解為若干個分支結(jié)構(gòu)，并按一定順序排列，通過對各個分支結(jié)構(gòu)的逐步比較和操作，完成重構(gòu)過程。最后選定模塊數(shù)目，進行了重構(gòu)規(guī)劃過程的仿真計算。結(jié)果表明，文中所述算法對于樹狀拓撲結(jié)構(gòu)的模塊化機器人的重構(gòu)規(guī)劃問題是有效的。
關(guān)鍵詞: 機器人; 重構(gòu)規(guī)劃; 可重構(gòu); 模塊化; 拓撲結(jié)構(gòu)
Topological Reconfiguration Planning for Modular Robots ZHAO Guangtao，ZHENG Haojun (Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China) Abstract: Modular reconfigurable robots consist of large number of identical modules that possess the ability to adapt their shape to suit multiple, changing tasks. This paper examines the reconfiguration planning problem of tree-like topological modular robots and defines some of the general nomenclature. And then presents a new planning algorithm for reconfiguration that allows a robot to efficiently transform between two arbitrary tree-like topological configurations. The robot topology can be transformed in a rooted tree from a free tree. The rooted trees are decomposed into several substructures arranged in some order. Reconfiguration planning will be accomplished by the stepwise comparison and operation between the substructures. Simulation and computation results show that this algorithm is efficient for tree-like topological modular reconfigurable robots.
Key words: robot; reconfiguration planning; reconfigurable; modular; topological structure