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
收藏
页码：2099 / 2104
页数：6
相关论文
共 50 条
  • [41] Inverse kinematics solution algorithm of electric climbing robot based on improved beetle antennae search algorithm
    Du H.-B.
    Ge Z.-Z.
    Zhang J.-F.
    Xie F.
    Kongzhi yu Juece/Control and Decision, 2022, 37 (09): : 2217 - 2225
  • [42] Kinematics Modeling of Snake-like Robot Based on Screw Theory
    Wei W.
    Li Y.
    Liao Z.
    Zhang J.
    Huanan Ligong Daxue Xuebao/Journal of South China University of Technology (Natural Science), 2019, 47 (02): : 1 - 8
  • [43] Modeling and simulation of multi-footed wheel robot based on ADAMS
    Liu, Cheng
    Zhao, Dong
    Huang, Weitao
    Meng, Xianjiang
    Du, Wenhao
    Journal of Physics: Conference Series, 2020, 1601 (06):
  • [44] Neural processing based robot kinematics modeling and calibration for pose control
    Dreiseitl, S.
    Jacak, W.
    Kubik, T.
    Muszynski, R.
    Systems Science, 1997, 23 (03): : 61 - 68
  • [45] A Kinematics Modeling Method of Linkage Robot Based on Euler Spinning Method
    Zhou, Shitong
    Song, Qiuzhi
    Wang, Xin
    PROCEEDINGS OF 2017 IEEE INTERNATIONAL CONFERENCE ON UNMANNED SYSTEMS (ICUS), 2017, : 104 - 109
  • [46] The Dynamic Coupling Analysis for All-Wheel-Drive Climbing Robot Based on Safety Recovery Mechanism Model
    Xu, Fengyu
    Jiang, Quansheng
    Lv, Fan
    Wu, Mingliang
    Zhang, Laixi
    APPLIED SCIENCES-BASEL, 2018, 8 (11):
  • [47] Joint simulation of the kinematics of a gecko-like quadrupedal wall-climbing robot based on SIMULINK and ADAMS
    Chen, Zehao
    INTERNATIONAL CONFERENCE ON MECHANICAL DESIGN AND SIMULATION (MDS 2022), 2022, 12261
  • [48] Design, modeling, and manufacturing of a novel robust gripper-based climbing robot: KharazmBot
    Boomeri, Vahid
    Tourajizadeh, Hami
    Askarian, Hamid Reza
    Pourebrahim, Sina
    ROBOTICA, 2023, 41 (08) : 2365 - 2396
  • [49] Kinematics Modeling of a Twisted and Coiled Polymer-Based Elastomer Soft Robot
    Bao, Jiali
    Chen, Weihang
    Xu, Jing
    IEEE ACCESS, 2019, 7 : 136792 - 136800
  • [50] Design, Modeling and Simulation for Obstacle Crossing Robot Based on In-wheel Motor
    Meng, Guanjun
    Zhang, Zutao
    Xu, Hong
    MATERIAL SCIENCE, CIVIL ENGINEERING AND ARCHITECTURE SCIENCE, MECHANICAL ENGINEERING AND MANUFACTURING TECHNOLOGY II, 2014, 651-653 : 710 - 715
12345