Kinematic Modeling and Characteristic Analysis for Wheeled Mobile Robots in Round Ducts/Pipes
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摘要: 为解决圆形管道中轮式移动机器人的运动控制问题，分析了轮式移动机器人在圆形管道中的运动学特性．借助接触点的切平面，单个轮子在平面上的位置和运动描述方法被应用在圆管的柱面上．推导了单个轮子在柱面上纯滚动时轮心的轨迹和速度．运用刚体运动瞬时螺旋理论，对由两个固定轮和一个舵轮组成的（1，1）型三轮机器人在圆形管道中的运动进行了建模分析，并对此运动学模型进行了仿真．Abstract: To solve the motion control problem of wheeled mobile robots in round ducts or pipes,kinematic characteristics of wheeled mobile robots in round ducts or pipes are analyzed.Description of the position and motion of a wheel on a plane is applied to the cylinder of round ducts/pipes by dint of the tangent plane of the contacting point.The trajectory and velocity of the center of the wheel is educed when it purely rolls in the cylinder.With the theory of instantaneous screw of a rigid-body motion,the kinematic model of three-wheel type(1,1) robots with two fixed wheels and a steering wheel in the cylinder of round ducts/pipes is presented and discussed.Simulation results are presented to show the performance of the kinematic model.
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Keywords:
- wheeled mobile robot /
- kinematic model /
- cylinder /
- instantaneous screw
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