Abstract
This paper presents a new version of the JL series reconfigurable multi-robot system called JL-2. By virtue of the docking manipulator composed of a parallel mechanism and a cam gripper, every mobile robot in the JL-2 system is able to not only perform tasks in parallel, e.g. moving and grasping, but also dock with each other even if there are large misalignments between two robots. A motorized spherical joint is formed between two docked robots to enhance the locomotion capability of JL-2. To fulfill the demands of reconfiguration, a distributed control system and sonar based docking guidance system are designed for the JL-2 prototype. Based on the above design, the JL-2 prototype has been built and successfully demonstrated to confirm the validity and functionality of the proposed capabilities.
| Original language | English |
|---|---|
| Pages (from-to) | 9-18 |
| Number of pages | 10 |
| Journal | International Journal of Advanced Robotic Systems |
| Volume | 7 |
| Issue number | 1 |
| DOIs | |
| State | Published - Mar 2010 |
Keywords
- Distributed control
- Docking mechanism
- Manipulator
- Mobile robot
- Reconfigurable robot
Fingerprint
Dive into the research topics of 'JL-2: A mobile multi-robot system with docking and manipulating capabilities'. Together they form a unique fingerprint.Cite this
- APA
- Author
- BIBTEX
- Harvard
- Standard
- RIS
- Vancouver