Postural adjustment control of a climbing robot having statically indeterminate structure
Postural adjustment control of a climbing robot having statically indeterminate structure
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超静定结构攀爬机器人的姿态调节控制
DOI：
10.1109/cca.2015.7320768
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
S. Ueki
中科院分区：
文献类型：
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作者：
H. Kawasaki;Tomonori Miura;H. Kondo;S. Ueki
提出了一种由带盲区的位置PID控制和力释放控制组成的锥杆攀爬机器人姿态调整控制，使攀爬机器人的水平姿态和四个主动轮与树木之间的约束力保持在允许的范围内。该攀爬机器人由伺服机构驱动，无反向驱动，可利用自身重量在树上停留，不消耗任何能量。为了实现圆锥杆的直线爬升和螺旋爬升，需要一个由两个单自由度双连杆臂机构组成的姿态调整机构来平稳地驱动主动轮的转向机构。由于姿态调节机构也具有不可反向驱动性并且是静不定结构，因此这些有时导致作用在车轮上的强约束力，并且引起姿态调节机构的失控。提出的理论背景和建议的姿态调整控制的有效性在实验中。
A postural adjustment control of climbing robot for conical poles, which consists of a position PID control with blind zone and a force release control, is proposed to keep the horizontal posture of the climbing robot and constraint forces between four active wheels and tree in an admissible range. The climbing robot driven by servomechanism without back-drivability can rest on a tree by using its own weight without any energy expenditure. To realize both straight climbing and spiral climbing for conical poles, a postural adjustment mechanism, which consists of two two-link-arm mechanisms with 1 DOF, is needed to drive the steering mechanisms of the active wheels smoothly. Since the posture adjustment mechanism has also non-back-drivability and is a statically indeterminate structure, these sometimes lead to strong constraint forces acting on wheels and caused the out-of-control of the postural adjustment mechanism. The theoretical background is presented and the effectiveness of the proposed postural adjustment control is presented in experimentally.
使用螺杆传动机构控制蛇形机器人
DOI：
--
发表时间：
2007
期刊：
影响因子：
--
作者：
Masaya Hara;Shogo Satomura;Hiroaki Fukushima;Tetsushi Kamegawa;Hiroki Igarashi;and Fumitoshi Matsuno
通讯作者：
and Fumitoshi Matsuno