Task planning and behavior scheduling for a reconfigurable planetary robot system

Wang, Minghui; Ma, Shugen; Li, Bin; Wang, Yuechao; He, Xiao; Zhang, Liping

doi:10.1109/icma.2005.1626640

Cited by 6 publications

(1 citation statement)

References 14 publications

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“…The values for each address positions are stored into the FPGA configuration bit-stream that is loaded each time when the system is powered. In this design Block RAM is used as a single port RAM [4]. We use the block RAMs to store the desired function module into the FPGA.…”

Section: B Fpga-based Reconfigurable System Designmentioning

confidence: 99%

Research and Design of Embedded Reconfigurable Mechatronics System Based on Field bus

Wang

Rao

Yue

et al. 2006

2006 2nd IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications

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Mechatronics system is the combination of mechanical system and control system. Based on the research of mechatronics system, the control kernel architecture based on embedded ARM and field bus is proposed, which takes mechanical system as the control object, takes sensors and drivers as control interface. To meet the need of flexible manufacturing and reconfigurable design, a reconfigurable technique based on field-programmable gate arrays (FPGAs) are applied, which has the potential for greater functionality and higher performance, but with smaller volume and lower power dissipation. Then, the hardware platform is applied into a typical embedded mechatronics system-CNC system. To solve the chaotic expansion in interfaces and the fallibility in operating, distributed structure and control based on PROFIBUS-DP is introduced into the system design. In the end, a machining centre based on the CNC system has proved that the mechatronics system meets the strict demand of function, reconfigurable and reliability.

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Section: B Fpga-based Reconfigurable System Designmentioning

confidence: 99%

Research and Design of Embedded Reconfigurable Mechatronics System Based on Field bus

Wang

Rao

Yue

et al. 2006

2006 2nd IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications

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Inference search algorithm for optimizing scheduling and minimizing mean tardiness in parallel joint robots

Tamizi

Ghaffari

2018

J Ambient Intell Human Comput

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Motion Planning for a Reconfigurable Robot to Cross an Obstacle

Wang

et al. 2006

2006 International Conference on Mechatronics and Automation

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-A reconfigurable modular planetary robot system (RMPRS) consists of a parent body and multiple asymmetric wheel-manipulator child-robots. As an agent, the child-robot independently performs locomotion and manipulation. The childrobots have reconfigurable capability so that a group of childrobots are combined to a variety of configurations. Moreover, the child-robot gives output in different forms under various constraint conditions from one driving force. Utilizing this characteristic, it can cross an obstacle automatically. But the guiding wheel and the arm have fatal influence on the height of the obstacle that the child-robot can cross. A motion planning method for highly improving the capability of crossing an obstacle for the child-robot is proposed, which makes use of the environment and the posture of arm. The validity of the planning method is demonstrated by the experiments of the physical prototype.Index Terms -reconfigurable modular planetary robot, wheelmanipulator child-robot, cross an obstacle, motion planning.

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Task planning and behavior scheduling for a reconfigurable planetary robot system

Cited by 6 publications

References 14 publications

Research and Design of Embedded Reconfigurable Mechatronics System Based on Field bus

Research and Design of Embedded Reconfigurable Mechatronics System Based on Field bus

Inference search algorithm for optimizing scheduling and minimizing mean tardiness in parallel joint robots

Motion Planning for a Reconfigurable Robot to Cross an Obstacle

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