STATICS ANALYSIS AND OPENGL BASED 3D SIMULATION OF COLLABORATIVE RECONFIGURABLE PLANETARY ROBOTS
文献类型：期刊论文
| 作者 | Zhang Z(张政); Ma SG(马书根) ; Li B(李斌); Zhang LP(张力平); Cao BG(曹秉刚)
|
| 刊名 | Academic Journal of Xi'an Jiaotong University
 |
| 出版日期 | 2006 |
| 卷号 | 18期号:2页码:102-105,117 |
| 关键词 | multi-robot system cooperation reconfigurable planetary robot statics analysis |
| ISSN号 | 1671-8267 |
| 产权排序 | 3 |
| 中文摘要 | Objective To study mechanics characteristics of two cooperative reconfigurable planetary robots when they get across an obstacle, and to find out the relationship between the maximum height of a stair with the configuration of the two-robot, and to find some restrictions of kinematics for the cooperation. Methods Multirobot cooperation theory is used in the whole study process. Inverse kinematics of the robot is used to form a desired configuration in the cooperation process. Static equations are established to analyze the relations between the friction factor, the configuration of robots and the maximum height of a stair. Kinematics analysis is used to find the restrictions of the two collaborative robots in position, velocity and acceleration. Results 3D simulation shows that the two cooperative robots can climb up a stair under the condition of a certain height and a certain friction factor between robot wheel and the surface of the stair. Following the restrictions of kinematics, ... |
| 资助信息 | This workis supported in part by the Hi-tech Research and Development Programof China (2002AA422130) |
| 语种 | 英语 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7408]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhang Z,Ma SG,Li B,et al. STATICS ANALYSIS AND OPENGL BASED 3D SIMULATION OF COLLABORATIVE RECONFIGURABLE PLANETARY ROBOTS[J]. Academic Journal of Xi'an Jiaotong University,2006,18(2):102-105,117. |
| APA | Zhang Z,Ma SG,Li B,Zhang LP,&Cao BG.(2006).STATICS ANALYSIS AND OPENGL BASED 3D SIMULATION OF COLLABORATIVE RECONFIGURABLE PLANETARY ROBOTS.Academic Journal of Xi'an Jiaotong University,18(2),102-105,117. |
| MLA | Zhang Z,et al."STATICS ANALYSIS AND OPENGL BASED 3D SIMULATION OF COLLABORATIVE RECONFIGURABLE PLANETARY ROBOTS".Academic Journal of Xi'an Jiaotong University 18.2(2006):102-105,117. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。