Research for the kinematic and dynamic models of a flexible glass-wall cleaning robot
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摘要: 灵巧壁面移动机器人是一个约束可变的系统,其可控性问题有待于证实.针对履带驱动方式具有非完整约束的性质,利用李群理论和微分几何的分析方法,对各种构型情况下灵巧壁面移动机器人运动学和动力学特性进行了研究,证明了灵巧壁面移动机器人的可控性,建立了机器人动力学方程,为机器人控制器的设计提供了理论指导.Abstract: A new structure for a smart wall-climbing robot was propossed.The conceptions of Lie Group and differential geometry were used in the robot's controllability analysis. The kinematic and dynamic models of the robot were concluded.The expressions of Lagrange multipliers were acquired to represent the measure of the constraint force.
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Key words:
- kinematics /
- dynamics /
- nonholonomic constraint /
- wall-climbing robot
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[1] 理查德·摩雷,李泽湘,夏恩卡·萨思特里.机器人操作的数学导论[M]. 徐卫良,钱瑞明译.北京:机械工业出版社,1998 Murray R M, Li Zexiang, Sastry S S. A mathematical introduction to robotic manipulation[M]. Xu Weiliang,Qian Ruiming Trans. Beijing:Mechanical Engineering Press, 1998 (in Chinese) [2] 王 巍.灵巧擦窗机器人相关问题研究 . 北京:北京航空航天大学机械工程及自动化学院,2000 Wang Wei. The research for a flexible glass-wall cleaning robot . Beijing:School of Mechanical Engineering and Technology,Beijing University of Aeronautics and Astronautics, 2000(in Chinese) [3] Skhavat S, Svestka P. Multilevel path planning for nonholonomic robots using semiholonomic subsystems[J]. The International Journal of Robotics Research, 1998, 17(2):169~192 [4] Szcerba R J, Chen D Z. Planning shortest paths among 2D and 3D weighted regions using framed-subspaces[J]. The International Journal of Robotics Research, 1998, 17(5):531~546 [5] Briones L, Bustamante P. Robicen:a wall-climbing pneumatic robot for inspection in nuclear power plants [J].Robotics & Computer-Integrated Manufacturing, 1994,11(4):187~292 -
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