Dual arms running control method of inspection robot based on obliquitous sensor
文献类型：会议论文
| 作者 | Zhu XL(朱兴龙); Wang HG(王洪光) ; Fang LJ(房立金); Zhao MY(赵明扬); Zhou JP(周骥平)
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| 出版日期 | 2006 |
| 会议名称 | IEEE/RSJ International Conference on Intelligent Robots and Systems |
| 会议日期 | October 9-13, 2006 |
| 会议地点 | Beijing, China |
| 关键词 | dual arm running obliquitous sensor inspection of transmission lines mobile robot |
| 页码 | 5273-5278 |
| 中文摘要 | Inspection robot with dual wheels encounters upslope and down slope, when it runs on the overhead ground wires (OGWs) which displays catenary shape. The tilt of the body of inspection robot, which is caused by the angle variation of catenary in different position, will occur during running procedure, and disenable to check vertically the transmission lines by camera. An adjustment method, which can keep the body of inspection robot in horizontal pose, is presented by the obliquitous sensor changing the length of the manipulators in this paper. In order to implement the pose adjustment, the dynamic model is established by Lagrange method. Finally, the simulation and experiment results show that the adjustment method proposed is feasible. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE, RSJ |
| 会议录 | 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-0258-8 |
| WOS记录号 | WOS:000245452405058 |
| 源URL | [http://ir.sia.cn/handle/173321/8678]  |
| 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 | Zhu XL,Wang HG,Fang LJ,et al. Dual arms running control method of inspection robot based on obliquitous sensor[C]. 见:IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, China. October 9-13, 2006. |
入库方式： OAI收割
来源：沈阳自动化研究所
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