砰砰机器人
移动机器人
直角坐标机器人
滑倒
机器人
关节式机器人
蛇臂机器人
机器人校准
机器人控制
机器人运动学
Arm解决方案
工程类
控制理论(社会学)
模拟
计算机科学
人工智能
控制(管理)
结构工程
作者
Hidemasa Sawabe,Mizuki Nakajima,Motoyasu Tanaka,Kazuo Tanaka,Fumitoshi Matsuno
标识
DOI:10.1080/01691864.2019.1666737
摘要
We propose a control method in which an articulated wheeled mobile robot moves inside straight, curved and branched pipes. This control method allows the articulated wheeled mobile robot to inspect a larger area. The articulated wheeled mobile robot comprises pitch and yaw joints is and propelled by active wheels attached to the robot. Via the proposed control method, the robot takes on two different shapes; one prevents the robot from slipping inside straight pipes and the other allows movement in a pipe that curves in any direction. The robot is controlled by a simplified model for the robot's joint angles. The joint angles of the robot are obtained by fitting to a continuous curve along the pipe path. In addition, the angular velocity of the robot's active wheels is determined by a simplified model. The effectiveness of the proposed the control method was demonstrated with a physical implementation of the robot, and the robot was able to move inside straight, curved and branched pipes.
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