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一种可变形机器人直线构型转向控制方法研究
Alternative TitleDevelopment of a reconfigurable robot's turning method with line configuration
常健; 吴成东; 尚红; 李斌
Department机器人学研究室
Conference Name2012 10th World Congress on Intelligent Control and Automation (WCICA)
Conference DateJuly 6-8, 2012
Conference PlaceBeijing, China
Author of SourceIEEE Control Systems Society
Source PublicationProceedings of the 10th World Congress on Intelligent Control and Automation
PublisherIEEE
Publication PlaceNew York, USA
2012
Pages61-66
Indexed ByEI ; CPCI(ISTP)
EI Accession number20130415918985
WOS IDWOS:000395422500014
Contribution Rank1
ISBN978-1-4673-1398-8
Keyword可变形 直线构型 转向控制
Abstract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。
Other AbstractThe 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.
Language中文
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10231
Collection机器人学研究室
Affiliation1.中国科学院沈阳自动化研究所工业信息学重点实验室
2.中国科学院研究生院
3.东北大学信息科学与工程学院
4.中国地震应急搜救中心
Recommended Citation
GB/T 7714
常健,吴成东,尚红,等. 一种可变形机器人直线构型转向控制方法研究[C]//IEEE Control Systems Society. New York, USA:IEEE,2012:61-66.
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