| 桥梁缆索检测蛇形机器人攀爬运动分析与实现 |
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| 引用本文： | 魏武,张占. 桥梁缆索检测蛇形机器人攀爬运动分析与实现[J]. 计算机工程与设计, 2011, 32(7): 2451-2454 |
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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： | 国家自然科学基金重点项目(60736024); 中央高校基本科研业务费基金项目(2009ZM192) |
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| 摘 要： | 为方便实现对桥梁缆索的检测和日常维护任务,利用蛇形机器人良好的适应性,通过研究其控制规律,给出了一种简单的并可实现蛇形机器人沿缆索进行螺旋攀爬运动的控制函数.分析了螺旋攀爬运动中控制参数与螺旋参数之间的关系,利用粒子群优化算法对控制参数与螺旋半径、螺旋上升角、螺距之间的关系进行优化拟合,给出了拟合函数.通过Webots...
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| 关 键 词： | 蛇形机器人 缆索检测 螺旋攀爬运动 粒子群优化算法 Webots |
Climbing motion analysis and implementation of snake-like robot used for bridge cables inspection |
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| WEI Wu,ZHANG Zhan. Climbing motion analysis and implementation of snake-like robot used for bridge cables inspection[J]. Computer Engineering and Design, 2011, 32(7): 2451-2454 |
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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: | In order to implement the detection and routine maintenance of the bridge cables in a convenient way,a simple control function for the helical climbing locomotion of the snake-like robot is implemented by studying the control law and using the good adaptability of the robot.By using the PSO,the relationship between the control parameters and helical parameters of the helical climbing locomotion is analyzed and the fitting functions are given.By using the Webots professional mobile robot simulation software ... |
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| Keywords: | snake-like robot bridge cables inspection helical climbing locomotion PSO Webots |
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