Wheel-Based Climbing Robot: Modeling and Control
Wheel-Based Climbing Robot: Modeling and Control
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DOI：
10.1163/016918610x501453
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发表时间：
2010-01
影响因子：
2
通讯作者：
E. Noohi;Seyedeh Sara Mahdavi;A. Baghani;M. N. Ahmadabadi
中科院分区：
文献类型：
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作者：
E. Noohi;Seyedeh Sara Mahdavi;A. Baghani;M. N. Ahmadabadi
本文讨论了一种新型非完整轮式爬杆机器人 UT-PCR 的运动学建模和控制。该机器人属于一类具有挑战性且研究较少的轮式移动机器人，其中轮子的相对位置以复杂的方式变化，并且机器人被限制在封闭的几何表面上进行机动。该问题是根据机器人的运动学模型来表述的，该模型是使用轮子对运动施加的非完整约束导出的。该模型是一个欠驱动无漂移非线性状态空间（控制系统），其输入是线性的。然后通过对该非线性系统的可控性分析证明了复杂操纵的可行性。结果表明，机器人的三个方向不能独立控制。因此，引入三个基本运动作为运动控制策略的基本元素，并且设计稳定控制器来创建这些基本运动。仿真和实验结果表明了所提出的控制系统的适用性。
This paper addresses the kinematics modeling and control of a novel nonholonomic wheel-based pole climbing robot called UT-PCR. This robot belongs to a challenging and less-studied class of wheel-based mobile robots in which the relative position of the wheels changes in a complex manner and the robot is constrained to maneuver on a closed geometric surface. The problem is formulated in terms of the kinematic model of the robot, which is derived using non-holonomic constraints imposed by the wheels on the motion. This model is an underactuated driftless nonlinear state space (control system) which is linear in its inputs. Feasibility of complex maneuvering is then proved by an analysis of controllability for this nonlinear system. It is shown that three orientations of the robot cannot be controlled independently. Therefore, three basic movements are introduced as the fundamental elements of the kinematic control strategy and stable controllers are designed to create those basic movements. Simulation and experimental results are provided to show the applicability of the proposed control system.