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题名: Dual arms running control method of inspection robot based on obliquitous sensor
作者: Zhu XL(朱兴龙) ; Wang HG(王洪光) ; Fang LJ(房立金) ; Zhao MY(赵明扬) ; Zhou JP(周骥平)
作者部门: 机器人学研究室
会议名称: IEEE/RSJ International Conference on Intelligent Robots and Systems
会议日期: October 9-13, 2006
会议地点: Beijing, China
会议主办者: IEEE, RSJ
会议录: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2006
页码: 5273-5278
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-0258-8
关键词: dual arm running ; obliquitous sensor ; inspection of transmission lines ; mobile robot
摘要: Inspection robot with dual wheels encounters upslope and down slope, when it runs on the overhead ground wires (OGWs) which displays catenary shape. The tilt of the body of inspection robot, which is caused by the angle variation of catenary in different position, will occur during running procedure, and disenable to check vertically the transmission lines by camera. An adjustment method, which can keep the body of inspection robot in horizontal pose, is presented by the obliquitous sensor changing the length of the manipulators in this paper. In order to implement the pose adjustment, the dynamic model is established by Lagrange method. Finally, the simulation and experiment results show that the adjustment method proposed is feasible.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8678
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
朱兴龙; 王洪光; 房立金; 赵明扬; 周骥平.Dual arms running control method of inspection robot based on obliquitous sensor.见:IEEE .2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12,NEW YORK,2006,5273-5278
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