A Wire Mobile Robot with Multi-unit Structure
A Wire Mobile Robot with Multi-unit Structure
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DOI：
10.1109/iros.1989.637939
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发表时间：
1989-09
期刊：
影响因子：
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通讯作者：
S. Aoshima;T. Tsujimura;T. Yabuta
中科院分区：
文献类型：
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作者：
S. Aoshima;T. Tsujimura;T. Yabuta
本文提出了一种多单元结构的有线移动机器人的机构和控制系统。移动机器人具有用于环境识别的超声波传感系统，使其能够自主移动。通过该机构、控制和传感系统，机器人可以转移到分支线上并避开线上的障碍物。本文首先阐明了避障和将机器人转移到分支线上的机构和方法的设计，然后展示了使用带有超声波传感系统的移动机器人原型的实验结果
This paper proposes a mechanism and a control system for a wire mobile robot with a multi-unit structure The mobile robot has an ultrasonic sensing system for environment recognition enabling it to move autonomously With this mechanism, control and sensing system, the robot can transfer to a branch wire and avoid obstacles on the wire This paper first clarifies the design of a mechanism and a method for avoiding obstacles and transferring the robot to a branch wire Then it shows experimental results using a prototype of mobile robot with an ultrasonic sensing system