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具有万向机构的蛇形机器人运动控制
Locomotion Control of a Snake-like Robot with Omnidirectional Mechanisms
查看参考文献13篇
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文摘
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设计了一种能够使蛇形机器人运动更灵巧、奇异点更少和运动能力更强的机构,对具有三个自由度的新型蛇形机器人单元进行了改进,在单元上增加被动轮机构,使其具有万向机构的特点.该单元不仅能够用被动轮驱动机器人运动,而且增加了类似于主动轮的驱动机构,克服了被动轮驱动能力弱的缺点,增强了机器人的运动能力.在分析非完整约束的基础上,对蛇形机器人的运动学和冗余度进行分析,提出了控制该类蛇形机器人运动的分解矩阵方法和分组交替运动法. |
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其他语种文摘
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By adding a serial of passive wheels to the perimeter of the newly designed joint mechanism with 3 DOFs, a snake-like robot provided with the characteristics of omnidirectional mechanism can traverse rough terrain and compensate the lack of actuation due to passive wheels. The nonholonomic constraints and robot kinematics were analyzed as well as the redundancy. The composite mo-tion method and grouping alternation motion control method were thus proposed for the locomotion of robot and the avoidance of singularity. Also, the grouping alternation motion adds a new explanation to the sinus lifting locomotion of natural snake. |
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来源
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中国机械工程
,2004,15(24):2235-2240 【核心库】
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关键词
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蛇形机器人
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万向机构
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非完整约束
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运动学控制
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地址
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中国科学院沈阳自动化研究所, 沈阳, 110016
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语种
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中文 |
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文献类型
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研究性论文 |
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ISSN
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1004-132X |
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学科
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自动化技术、计算机技术 |
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基金
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国家863计划
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文献收藏号
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CSCD:1662267
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参考文献 共
13
共1页
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1.
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被引
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10.
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11.
Ma Shugen. Analysis of Creeping Locomotion of a Snake-like Robot.
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Ma Shugen. Analysis of Creeping Locomotion of a Snake Robot on a Slope.
IEEE International Conference on Robotics and Automation,2003
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被引
3
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Ma Shugen. Control of a 3-dimensional Snake-like Robot.
IEEE International Conference on Robotics and Automation,2003
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被引
3
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