机器人Issue(2)：161-167,7.DOI:10.13973/j.cnki.robot.2015.0161
异构模块型可变形机器人狭窄空间转向性能研究
Steering for a Transformable Robot with Heterogeneous Modules in Narrow Space
摘要
Abstract
Aiming at the capability of passing through a narrow space for a transformable robot with heterogeneous modules, a control method for steering in a narrow space is proposed on the basis of the optimal energy-consumption through analyzing the steering performance in line configuration and the safe range in narrow space. The kinematic and dynamic models for robot steering in line configuration are established, and then the relationship between steering performance and control parameters such as the configuration angle and driving velocity is constructed. With the goal of minimal energy-consumption, the kinematic parameters of steering in line configuration are selected and adjusted under the constraints of safe steering range. The influence of the motion control parameters on the steering performance is verified by simulation, and the features and advantages of various steering methods and steering control parameters are presented.关键词
异构模块/可变形机器人/转向控制/狭窄环境/直线构型Key words
heterogeneous module/transformable robot/steering control/narrow space/line configuration分类
信息技术与安全科学引用本文复制引用
王明辉,马书根,李斌,李楠..异构模块型可变形机器人狭窄空间转向性能研究[J].机器人,2015,(2):161-167,7.基金项目
国家自然科学基金资助项目（61273345）． （）
