Configuration representation and reconfiguration optimization for the reconfigurable robots with independent manipulation

Single module of the reconfigurable robots with independent manipulation can perform the actions of locomotion and manipulation. In conformity with the request for achieving autonomous operation in the unstructurized environment instead of fixed operation in the structurized environment, these robots are applied in the complicated and dangerous environment. The existing researches on the configuration theory focus on the reconfigurable robots with limited locomotion and the ones with independent locomotion, not being applicable to the reconfigurable robots with independent manipulation. The vector configuration is put forward, the research content of which contains the topology and locomotion direction of configuration, the posture and orientation and connection relation between modules. Module state vector and configuration state matrix are proposed for representation methodology for the swarm configuration of these reconfigurable robots, which supports transformation operation to represent and trigger behavior motion of the module and reconfiguration between configurations. Optimization algorithm of assembly reconfiguration applying workload as the optimization target is presented, as well as optimization algorithm of transformation reconfiguration applying the integration of posture_orientation_workload and connection_workload. The result of optimization is the relation of state transformation between the initial configuration and the object one as the basic of reconfigurallon plan and control.