孙汉旭, 郑一力, 贾庆轩, 刘大亮, 史成坤. 带可伸缩操作臂的球形机器人的研制[J]. 机器人, 2009, 31(5): 404-409.
引用本文: 孙汉旭, 郑一力, 贾庆轩, 刘大亮, 史成坤. 带可伸缩操作臂的球形机器人的研制[J]. 机器人, 2009, 31(5): 404-409.
SUN Hanxu, ZHENG Yili, JIA Qingxuan, LIU Daliang, SHI Chengkun. Design of Spherical Robot with Telescopic Manipulator[J]. ROBOT, 2009, 31(5): 404-409.
Citation: SUN Hanxu, ZHENG Yili, JIA Qingxuan, LIU Daliang, SHI Chengkun. Design of Spherical Robot with Telescopic Manipulator[J]. ROBOT, 2009, 31(5): 404-409.

带可伸缩操作臂的球形机器人的研制

Design of Spherical Robot with Telescopic Manipulator

  • 摘要: 针对目前球形机器人不具备操作能力的不足,介绍了一种带有可伸缩操作臂的新型球形移动机器人BYQ-IV,对该机器人的机械结构进行了详细的描述和分析,并给出了无线分布式的机器人运动控制系统和基于adhoc网络的人机无线通信系统,提出了基于状态反馈的运动控制方法.最后,通过对样机的实验分析验证了该设计和控制方法的有效性.

     

    Abstract: Aiming at the deficiency of the operation ability of the spherical robot,a novel spherical mobile robot(BYQ-IV) with telescopic manipulator is presented.The mechanical architecture of the robot is described and analyzed in detail.The distributed wireless motion-control system and human-robot wireless communication system based on ad hoc networks are given,and the motion control method based on state feedback is introduced.Finally,the validity of the design and control method is shown by the experiments on the robot prototype.

     

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