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Alternative TitleDevelopment of a reconfigurable robot's turning method with line configuration
常健; 吴成东; 尚红; 李斌
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
Publication PlaceNew York, USA
Indexed ByEI ; CPCI(ISTP)
EI Accession number20130415918985
WOS IDWOS:000395422500014
Contribution Rank1
Keyword可变形 直线构型 转向控制
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.
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Document Type会议论文
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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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