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题名: Single arm running control method of inspection robot based on obliquitous sensor
作者: Zhu XL(朱兴龙) ; Zhou JP(周骥平) ; Wang HG(王洪光) ; Fang LJ(房立金) ; Zhao MY(赵明扬)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Robotics and Biomimetics (ROBIO 2006)
会议日期: December 17-20, 2006
会议地点: Kunming, China
会议主办者: IEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ
会议录: 2006 IEEE International Conference on Robotics and Biomimetics, Vols 1-3
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2006
页码: 187-192
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-0570-1
关键词: single arm running ; centroid adjustment ; inspection of power transmission lines ; mobile robot
摘要: Inspection robot encounters upslope and downslope, when single wheel runs on overhead ground wires (OGWs) which displays catenary shape. The tilt of inspection robot's body is happened because the contact point between single wheel and overhead line is variational with the angle variation of catenary in different position during single wheel running procedure, and causes the gravity torque unbalance. Above problem disenable to check vertically power transmission line by the high-speed dome camera. A centroid adjustment method, which can enable to keep the body of inspection robot in horizontal pose, is presented by the obliquitous sensor adjusting the centroid position in this paper. In order to implement centroid adjustment, the equilibrium condition equation and the dynamic model of centroid adjustment mechanism is established by Lagrange method. Finally, the simulation results test that the centroid 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/173321/8880
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
朱兴龙; 周骥平; 王洪光; 房立金; 赵明扬.Single arm running control method of inspection robot based on obliquitous sensor.见:IEEE .2006 IEEE International Conference on Robotics and Biomimetics, Vols 1-3,NEW YORK,2006,187-192
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