Kinematic Analysis and Motion Control of Wheeled Mobile Robots in Cylindrical Workspaces
文献类型：期刊论文
| 作者 | Song, Zhangjun; Ren, Hongliang; Zhang, Jianwei; Ge, Shuzhi Sam |
| 刊名 | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
 |
| 出版日期 | 2016 |
| 英文摘要 | Wheeled mobile robots (WMRs) are often used for maintenance of round pipes or ducts, which can typically be represented as a cylindrical workspace. Working in round pipes or ducts, kinematic models of WMRs are different from those applying on a plane and thus pose significant challenges in terms of kinematicanalysis and motion control. To address these challenges, the kinematic properties of WMRs in acylindrical workspace are analyzed in this paper. First, we discuss the kinematic properties of a single wheel in a cylindrical workspace. Then, we analyze the geometric constraints of WMRs in round pipes or ducts with analytical geometry. Based on these analyses, kinematic properties of WMRs in cylindricalworkspaces are discussed with screw theory. A control law based on biaxial clinometer information is proposed, and it enables the robot to move horizontally in round pipes or ducts. Finally, the motion of a single wheel purely rolling in a cylindrical workspace is simulated. Experiments using a car-like mobile robot moving in round ducts are carried out to show the feasibility of the proposed algorithm. |
| 收录类别 | SCI |
| 原文出处 | http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7358463&tag=1 |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/10380]  |
| 专题 | 深圳先进技术研究院_医工所 |
| 作者单位 | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING |
| 推荐引用方式 GB/T 7714 | Song, Zhangjun,Ren, Hongliang,Zhang, Jianwei,et al. Kinematic Analysis and Motion Control of Wheeled Mobile Robots in Cylindrical Workspaces[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2016. |
| APA | Song, Zhangjun,Ren, Hongliang,Zhang, Jianwei,&Ge, Shuzhi Sam.(2016).Kinematic Analysis and Motion Control of Wheeled Mobile Robots in Cylindrical Workspaces.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING. |
| MLA | Song, Zhangjun,et al."Kinematic Analysis and Motion Control of Wheeled Mobile Robots in Cylindrical Workspaces".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING (2016). |
入库方式： OAI收割
来源：深圳先进技术研究院
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