机械制造与自动化2024，Vol.53Issue(4)：119-123,5.DOI:10.19344/j.cnki.issn1671-5276.2024.04.022
变构型三栖机器人的控制与仿真模型研究
Research on Control and Simulation Model of Variable-configuration Three-perch Robot
摘要
Abstract
In order to enrich the system solution of three-perch robot,a new variational three-perch robot scheme was proposed based on the advantages and disadvantages and characteristics of the existing three-perch design scheme.The corresponding dynamic model and control model were studied in three different motion environments of air,ground and water,and the simulation experiments were carried out on the models.The results show that the control model can control the attitude,position and path following of the three-perch robot in the multi-mode,which has certain guiding significance for the design and application of the three-perch robot in the future.关键词
三栖机器人/运动控制/结构设计/控制仿真Key words
three-perch robot/motor control/structure design/control simulation分类
信息技术与安全科学引用本文复制引用
张立超,姬书得,胡为,任赵旭,龚鹏,王留芳..变构型三栖机器人的控制与仿真模型研究[J].机械制造与自动化,2024,53(4):119-123,5.基金项目
军委科技委重点探索项目(JH2021002N) （JH2021002N）
