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[1]李贞辉,王洪光,王越超.一种双臂巡检机器人的质心调整策略[J].智能系统学报,2014,9(6):665-671.[doi:10.3969/j.issn.1673-4785.201311045]
　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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一种双臂巡检机器人的质心调整策略

《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 9 期数: 2014年第6期页码: 665-671 栏目: 学术论文—机器感知与模式识别出版日期: 2014-12-25

Title:: Centroid adjustment strategy for a dual arm inspection robot

作者:: 李贞辉^1,2, 王洪光¹, 王越超¹; 1. 中国科学院沈阳自动化研究所机器人学国家重点实验室, 辽宁沈阳 110016;
2. 中国科学院大学, 北京 100049

Author(s):: LI Zhenhui^1,2, 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

关键词:: 移动机器人; 巡检机器人; 双臂机器人; 质心调整; 反馈控制器; 高压输电线

Keywords:: mobile robot; inspection robot; dual arm robot; centroid adjustment; state-feedback controller; high voltage transmission line

分类号:: P24

DOI:: 10.3969/j.issn.1673-4785.201311045

文献标志码:: A

摘要:: 针对一种双臂巡检机器人单臂挂线越障时的动态稳定问题,提出了一种质心调整策略。在分析机器人越障过程的基础上,建立了机器人单臂挂线时的动力学模型,设计了一种状态反馈控制器。提出以过渡时间最短为目标规划关节变量,设定机器人倾角和两臂间距为控制目标,实时调节各关节运动,通过控制调整机器人质心位置实现机器人越障时的稳定运动。仿真和实验证明了所提质心调整策略的可行性。

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.

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备注/Memo

收稿日期:2013-11-19;改回日期:。
基金项目:国家“863”计划资助项目(2006AA04Z203).
作者简介:李贞辉,男,1984年生,博士研究生。主要研究方向为特种机器人及其控制。发表学术论文7篇;王洪光,男,1965年生,研究员,博士生导师。主要研究方向为机器人机构学、特种机器人及机电一体化技术。主持和参加完成了国家自然科学基金、国家863计划、国家科技攻关及载人航天工程等多项重大课题,发表学术论文70余篇,获得发明和实用新型专利40余项。
通讯作者:李贞辉.E-mail:lizhenhui@sia.cn.

更新日期/Last Update: 2015-06-16