| 基于控制函数的蛇形机器人攀爬运动分析 |
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| 引用本文： | 魏武,张占.基于控制函数的蛇形机器人攀爬运动分析[J].控制工程,2011,18(2):322-326. |
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| 作者姓名： | 魏武 张占 |
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| 作者单位： | 华南理工大学,自动化科学与工程学院,广东,广州,510640 |
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| 基金项目： | 国家自然科学基金资助项目，中央高校基本科研业务费资助项目 |
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| 摘 要： | 为实现对正交关节蛇形机器人多种运动形式的简单、统一控制,从研究蛇形机器人控制函数出发,提出了一种简单的并可同时实现正交关节蛇形机器人蜿蜒运动、行波运动、侧向翻滚运动和螺旋攀爬运动等多种运动形式的控制函数.对蛇形机器人实现螺旋攀爬运动的控制参数进行了分析,并用粒子群优化算法(PSO)对控制参数进行了优化拟合,给出了控制参...
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| 关 键 词： | 正交关节 蛇形机器人 螺旋攀爬运动 粒子群优化算法 拟合函数 |
Analysis of Climbing Locomotion of Snake-Like Robot Based on Control Function |
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| WEI Wu,ZHANG Zhan.Analysis of Climbing Locomotion of Snake-Like Robot Based on Control Function[J].Control Engineering of China,2011,18(2):322-326. |
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| Authors: | WEI Wu ZHANG Zhan |
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| Affiliation: | WEI Wu,ZHANG Zhan(College of Automation Science and Engineering,South China University of Technology,Guangzhou 510640,China) |
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| Abstract: | The control problem of the snake-like robot with orthogonal joints is discussed.A simple control law is prensented to make the snake-like robot implement the serpentine locomotion,traveling wave locomotion,lateral rolling locomotion and helical climbing locomotion,etc.The control parameters of the helical climbing funtion are analyzed and the optimization of the control parameters is studied.The control parameters are optimized through the particle swarm optimization(PSO),and then the fitting function is gi... |
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| Keywords: | orthogonal joints snake-like robot helical climbing locomotion PSO fitting function |
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