%0 Journal Article
%T POSTURE ALIGNING AND MERGING SYSTEM FOR BOAT BLOCKS--REALIZATION OF COORDINATED MANIPULATION WITH A MULTI-ROBOT SYSTEM<br>船体分段位姿找正对接系统--一个多机器人协调操作系统的实现
%A JING Feng-Shui
%A TAN Min
%A HOU Zeng Guang
%A WANG Yun-Kuan
%A <br>景奉水
%A 谭民
%A 侯增广
%A 王云宽
%J 自动化学报
%D 2002
%I 
%X This paper has studied the application of multi robot coordination in a merging system for posture alignment of huge and heavy boat blocks. The system architecture, organization and posture coordinated manipulation method are proposed based on multiple 3DOF mobile robots. By virtue of the blocks merging technology, the blocks kinetic model was built as a rigid body moving with small displacement. The trajectory method of robot joints is also presented after the establishment of relationship among the coordinate systems of basis block, merging block and single robot.
%K Multi
%K robot coordination
%K mobile robots
%K posture alignment
%K trajectory planning<br>船体分段位姿找正对接系统
%K 多机器人协调操作系统
%K 移动机器人
%K 轨迹规划
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=F45A9CF203EDF04F&yid=C3ACC247184A22C1&vid=D3E34374A0D77D7F&iid=94C357A881DFC066&sid=C3BC38F6CC09E835&eid=C4B91B15F1F73E7E&journal_id=0254-4156&journal_name=自动化学报&referenced_num=3&reference_num=5