Kinematics modeling of a wheel-based pole climbing robot (UT-PCR)

被引：0

作者：

Baghani, A ^{[1
]}

Ahmadabadi, MN ^{[1
]}

Harati, A ^{[1
]}

机构：

[1] Univ Teheran, Robot & AI Lab, Dept Elect & Comp Engn, Control & Intelligent Proc Ctr Excellence, Tehran, Iran

来源：

2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 | 2005年

关键词：

climbing robot; wheel-based; kinematics modeling; nonholonomic constraints; singularity;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper is concerned with the derivation of the kinematics model of the University of Tehran-Pole Climbing Robot (UT-PCR). As the first step, an appropriate set of coordinates is selected and used to describe the state of the robot. Nonholonomic constraints imposed by the wheels are then expressed as a set of differential equations. By describing these equations in terms of the state of the robot an underactuated driftless nonlinear control system with affine inputs that governs the motion of the robot is derived. A set of experimental results are also given to show the capability of the UT-PCR in climbing a stepped pole.

引用

页码：2099 / 2104

页数：6

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