New Type Reconfigurable Modular Robot Design and Intelligent Control Method Research

摘要

A new type of reconfigurable modular robot is developed. This robot has some characteristics: realize modularization in the structure, the electrical, the drive, the kinematics and dynamic performance. It can construct the work topology rapidly according to the actual need and complete tasks in real time. The control method of reconfigurable modular robot is researched according to these characteristics. Taking the single module as the Agent model, the intelligent control system of the robot is established, and the control algorithm of the robot is researched emphatically to prove its astringency. Finally the analyses of the simulation experiment are made