[1]LI Zhenhui,WANG Hongguang,WANG Yuechao.Centroid adjustment strategy for a dual arm inspection robot[J].CAAI Transactions on Intelligent Systems,2014,9(6):665-671.[doi:10.3969/j.issn.1673-4785.201311045]
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Centroid adjustment strategy for a dual arm inspection robot

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 9 Number of periods: 2014 6 Page number: 665-671 Column: 学术论文—机器感知与模式识别 Public date: 2014-12-25
Title:
Centroid adjustment strategy for a dual arm inspection robot
Author(s):
LI Zhenhui1; 2;  WANG Hongguang1;  WANG Yuechao1
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. University of the Chinese Academy of Sciences, Beijing 100049, China
Keywords:
mobile robot; inspection robot; dual arm robot; centroid adjustment; state-feedback controller; high voltage transmission line
CLC:
P24
DOI:
10.3969/j.issn.1673-4785.201311045
Abstract:
In this paper, a centroid adjustment strategy is presented for solving the dynamic stability problem for a dual arm inspection robot when it is hung by single arm. Based on analysis of the obstacle crossing process of the robot, a kinetic model is established when the robot is hung by a single arm and a state-feedback controller based on the robot model is presented. This paper also discusses the planning method for the variable of joints based on shortest transition time, achieving the dynamically stable movement by regulating joint variables in time and adjusting the centroid of the robot. The simulation and experimental results showed that the centroid adjustment strategy is feasible.
References:
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