Modelling of Modular Robot Configurations Using Graph Theory

نویسندگان

José Baca

Ariadna Yerpes

Manuel Ferre

Juan A. Escalera

Rafael Aracil

چکیده

Modular robots are systems that can change its geometry or configuration when connecting more modules or when rearranging them in a different manner to perform a variety of tasks. Graph theory can be used to describe modular robots configurations, hence the possibility to determine the flexibility of the robot to move from one point to another. When the robot’s configurations are represented in a mathematical way, forward kinematics can be obtained.

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