Modular Self-reconfigurable Robot Docking With The Reconstruction Of The Planning Study

The key characteristic of MSR robots is their ability to change configuration automatically, enabling them to adapt their shape to suit multiple,changing tasks. The underlying design philosophy is to build complicated systems from a varying number of basic units, or modules. Modules have degrees of freedom and share standard connection interfaces allowing them to attach and detach from one another. This makes them capable of re-arranging their positions and connections within the robot, to transform the overall configuration.Automatic docking is one of the most important actions for MSR robot's self-reconfiguration and is one of the technologys about the robot researching, because it supports almost all practical advantages of such robot.In this thesis,automatic docking system and the module structure are first analyzed; for searching the reason why the actual docking system run unsteadily ,some validate and test thing are done,such as docking algorithm test,sensor unit test ,drive unit test ,and so on.How to plan reconfiguration for robot is one of keys by which the robot implenment self-reconfiguration,the other subject of this thesis thus is about study a reconfiguration planning scheme that allow for effectively transforming between two arbitrary configuration.This scheme based on the combination with two component——connectivity planner and motion planner. The connectivity planner runs in the ideal topology space and generate a sequence about module connetivity changes. This sequence is imported to the motion planner, the motion planner generate a moving strategy for a step of the sequence in geometry and physics. When connectivity planner and motion planner are combined, a full reconfiguration planner is born.