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题名: 一种可变形机器人直线构型转向控制方法研究
其他题名: Development of a Reconfigurable Robot
作者: 常健 ; 吴成东 ; 尚红 ; 李斌
作者部门: 机器人学研究室
会议名称: 2012 10th World Congress on Intelligent Control and Automation (WCICA)
会议日期: July 6-8, 2012
会议地点: Beijing, China
会议主办者: IEEE Control Systems Society
会议录: Proceedings of the 10th World Congress on Intelligent Control and Automation
会议录出版者: IEEE
会议录出版地: New York, USA
出版日期: 2012
页码: 61-66
收录类别: EI
ISBN号: 978-1-4673-1398-8
关键词: 可变形 ; 直线构型 ; 转向控制
摘要: 可变形移动机器人是机器人分支之一,可以根据环境需要改变自身的构型,增加对复杂环境的适应能力。本文针对可变形机器人的直线构型提出一种转向方法,解决传统链式转向的不足,缩短转向时间,减少转向半径,同时减少转向阻力矩。对运动过程建立数学模型,分析变形和转向过程的转向阻力矩和所需牵引力。通过试验分析,机器人在进行滑移转向肘,偏转电机电流没有超出电动机额定值,机器人转向过程较于链式转向快速平稳,结果验证机器人滑移转向的有效性和可实施性。
英文摘要: The shape-shifting robot is one of the kinds of the robot and it can change it's configuration according to the environment. A method is proposed to solve the shortcomings of the traditional method of robot's chain turning, which can shorten the time and radius of turning. The turning resistance moment can be also reduced. The mathematical model is built and the resistance torque and required force is computed By the analysis of experiment, the current of jaw motor does not exceed the limit load of the motor and it is more quick and smooth comparing to the link-turning. The validity and enforceability of the turning is proved by simulations and experiments.
语种: 中文
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10231
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
常健; 吴成东; 尚红; 李斌.一种可变形机器人直线构型转向控制方法研究.见:IEEE.Proceedings of the 10th World Congress on Intelligent Control and Automation,New York, USA,2012,61-66
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