Automatic parameter identification for cooperative modular robots

摘要

The paper describes a concept of a modular robots system and a methodology of parameter identification of the system. The system helps humans to perform tasks by cooperation of modules placed distributively in a working area. Modules of the system have one function (e.g. sensor or actuator) and cooperate based on radio communication. Generally it is difficult and troublesome for users to set up distributed system, because of measuring many parameters (e.g. position and orientation of modules) in practical use. To identify these parameters, motion design algorithm is presented by evaluating influence of errors of sensing and positioning by dead-reckoning for the case of a mobile robot and a ceiling camera module.