| 腿履复合机器人自主越障分析与动作规划 |
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| 引用本文： | 王伟东. 腿履复合机器人自主越障分析与动作规划[J]. 哈尔滨工业大学学报, 2009, 41(5): 30-33 |
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| 作者姓名： | 王伟东 |
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| 作者单位： | 哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨,150001;哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨,150001;哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨,150001;哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨,150001 |
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| 基金项目： | 长江学者创新团队计划，国家高技术研究发展计划 |
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| 摘 要： | 本文提出基于质心坐标公式和机器人运动学的质心运动学模型,通过此模型可获取机器人在越障过程中质心变化情况,从而分析机器人越障性能,自主规划机器人越障动作.并且建立稳定裕度角及俯仰角度与障碍高度关系的求解方法,在此基础上,进行基于最大稳定裕度的越障动作规划.最后通过实验验证了基于质心运动学模型和稳定裕度的自主越障性能分析及动作规划的正确性.
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| 关 键 词： | 履带移动机器人 自主越障动作规划 质心运动学模型 |
Analysis and motion plan for tracked mobile robot obstacle negotiation |
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| wangweidong. Analysis and motion plan for tracked mobile robot obstacle negotiation[J]. Journal of Harbin Institute of Technology, 2009, 41(5): 30-33 |
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| Authors: | wangweidong |
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| Affiliation: | Robotics institute, Harbin Institute of Technology |
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| Abstract: | Because the center of gravity (CG) position plays an important role in the process of climbing up an obstacle, the CG position kinematics model is built. Using this model, the CG change situation is obtained, and the maximum height of the obstacle which can be climbed up is obtained. And then the stability angle margin is calculated. The relationship between the robot pitch angle and the height of the obstacle is obtained. From above analysis the obstacle motion plan based on stability is presented. Final several experiments verify the analysis. These analysis help to design and control the robot. |
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| Keywords: | track mobile robot obstacle-climbing CG kinematics model |
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