Duct Cleaning Robot Comprehensive Kinematics Modeling And Analysis Considering the Complex Terrain
Complex terrain conditions greatly influences the movement of mobile robot,which should not be neglected.In this paper,a novel motion modeling idea is proposed,in which the robot chassis attitude angle changes caused by topographic changes was real-timely measured and be input into the robot kinematic modeling process to establish the overall kinematic model of robot.This modeling method reflect the various parts of the robot motion relations,and also display the complex topography of the robot trajectory of the end of the actuator.Finally,validated and analyzed the feasibility of the modeling method.
complex terrain mobile robot position and orientation effect kinematics modeling
Baoqiang Wu Wei Sun Minghua Ouyang
College of electrical and information engineering,Hunan University,Changsha,410082, China
国际会议
厦门
英文
2032-2036
2012-01-04（万方平台首次上网日期，不代表论文的发表时间）