中文摘要：

为了改进系统的性能，构建了同构阵列式模块化自重构机器人M．Cubes，该机器人具有12个自由度；结构简洁、紧凑，控制方便简单，可以构建任意的立方体结构，并对M-Cubes模块的基本运动进行了描述。搭建了基于自重构模块的分布式多智能体控制结构，根据系统的全局信息进行分布式控制，将控制分为三步，规划、协调和运动控制。结合模块的空间矢量进行路径规划，利用agent技术对模块间的相互作用进行协调，最后产生模块的翻转，实现模块的运动。利用Java3D技术建立了可视化的模块化自重构机器人仿真环境，在此平台上对模块的运动进行了仿真，给出了一个4X2X2矩形阵列模块的平移仿真示例，验证了该控制算法和仿真平台的有效性。

英文摘要：

To improve the capability of robot system, a homogeneous and lattice modular self-reconfigurable robot （MSR）, M-Cubes is designed. Each module unit of the robot has 12 DOE The robot is concise and compact in structure, simple in controlling. An arbitrary cubic structure can be realized by the modules. Basic movements of M-Cubes are described. Control frame of distributed multi-agent for the MSR is proposed, the control structure based on global information is divided into three steps： plan, coordinating and motion control. Path planning is carried out by space vector of module. Modules among MSR coordinate each other utilizing agent technology. At last, motion control accomplishes overturn and fulfills motion. A visual simulation environment of the MSR is designed utilizing java 3D technology. Motion of modules is simulated in the environment, a level movement of 4 ×2 × 2 rectangle lattice modules is demonstrated. It was testified the efficiency of control algorithm and simulation environment.