Study on mechanism of a mobile robot used in unstructured environment
文献类型：会议论文
| 作者 | Wang T(王挺) ; Wang YC(王越超); Yao C(姚辰)
|
| 出版日期 | 2005 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics (ROBIO 2005) |
| 会议日期 | July 5-9, 2005 |
| 会议地点 | Hong Kong, China |
| 关键词 | closed chain mechanism open chain mechanism distribution of torque unstructured environment mobile mechanism |
| 页码 | 201-205 |
| 中文摘要 | Based on the idea of snake-like robot, a novel mobile mechanism used in unstructured environment is proposed, which aims to solve the problems that a mobile robot must faced in unstructured environment such as viability, stability, flexibility and capability of climbing obstacles etc. By analyzing the kinematic mechanism of robot and several types of its special motions, the kinematic model is achieved. A specified method for the global torque distribution by torque control on single joint is introduced. Further more statics analysis shows that the new-style mechanism along with its specified torque-control method is realizable and superior to snake-like mechanism. Computer simulation confirms the validity. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2005 IEEE International Conference on Robotics and Biomimetics
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 0-7803-9315-5 |
| WOS记录号 | WOS:000241317800038 |
| 源URL | [http://ir.sia.cn/handle/173321/8893]  |
| 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 | Wang T,Wang YC,Yao C. Study on mechanism of a mobile robot used in unstructured environment[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2005). Hong Kong, China. July 5-9, 2005. |
入库方式： OAI收割
来源：沈阳自动化研究所
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