Reconfigurable multi-robot system kinematic modeling and motion planning

摘要

JL-II is a reconfigurable multi-robot system, which consists of three modules with mobile manipulator. To reveal the kinematic cooperation among modules, this paper analyzes the mechanism of each part, including the mobile platform and docking manipulator. The kinematic models are established to present the 3DOF docking manipulator and mobile body in unconnected and connected states. Finally, the paper obtains a suitable and definite inverse solution through presenting a motion planning of a grasping task.