自主越障巡检机器人质心调节控制

巡检机器人在跨越障碍时，质量偏心产生的偏矩破坏了机器人车体的水平姿态．本文提出了一种质心调节方法，利用倾角传感器测量机器人车体与水平面之间的倾角，从而控制配重块移动电机的运动，将机器人的质心调节到悬挂于架空地线上的那只手臂上，因此能保证机器人车体保持水平姿态，确保需要脱线或上线的手臂完成相应的动作．最后，通过仿真试验验证了质心调节控制方法的可行性．

Centroid Adjustment Control on Autonomous Obstacle Negotiating Inspection Robot

When inspection robot negotiates obstacles autonomously, the mass eccentricity will result in tilt of the robot body. A centroid adjustment method is presented which can maintain the horizontal pose robot body when one ann is hung on the overhead ground lines. The balance weight is moved by the servo motor according to the angle of inclination between the inspection robot body and the horizontal plane, which can be checked by the obliquitous sensor, so that the centroid position of inspection robot is concentrated on the ann that is hung on the overhead ground lines. Because the body of inspection robot is kept in horizontal pose, the other ann can accomplish corresponding task for attaching to or detaching from the overhead ground lines. Finally, the simulation tests show that the centroid adjustment method is feasible.