双腕マニピュレ-タによる自己組織化マニピュレ-タの組立作業

概要

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This paper deals with a kind of cellular robotic system (CEBOT-Cellular Robot), called Self Organizing Manipulator System (SOMS). In this system the configuration of the manipulator can be changed according to the given task. A new type of cells is designed, which the signal bus and power lines are made inside the cell. We use two manipulators to assemble, disassemble, and reassemble cellular manipulator by cooperation of the manipulators. When a task is given, the system analyzes the task and generates the structure of the cellular manipulator. The assembly work of the cellular manipulator is divided into modular subtasks. The system generates the macro command for each subtask based on the database. The collision avoidance is considered for planning the cooperation work by using the collision database which was calculated before hand. The simulation results and the experiments illustrate validity of the proposed system.
社団法人電気学会の論文