Enumerating the Non-Isomorphic Assembly Configurations of Modular Robotic Systems
نویسندگان
چکیده
منابع مشابه
Enumerating the nonisomorphic assembly configurations of modular robotic systems
A \modular" robotic system consists of joint and link modules that can be assembled in a variety of conngurations to meet diierent or changing task requirements. However, due to typical symmetries in module design, diierent assembly conngurations may lead to robotic structures which are kinematically identical, or isomorphic. This paper considers how to enumerate the non-isomorphic assembly con...
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Configuration of a reconfigurable modular system is a tough issue because the possible configurations or structures grow exponentially with the number of modules. A library of the non‐isomorphic configurations should be set up as a database for configuration design and control. In this paper, we propose a matrix‐based enumerating approach for the non‐isomorphic configurati...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 1998
ISSN: 0278-3649,1741-3176
DOI: 10.1177/027836499801700702