| 潜入式微细管道机器人的全程定位方法 |
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| 引用本文： | 金成柱,李江雄,柯映林. 潜入式微细管道机器人的全程定位方法[J]. 中国机械工程, 2004, 15(16): 1418-1421 |
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| 作者姓名： | 金成柱 李江雄 柯映林 |
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| 作者单位： | 浙江大学机械与能源工程学院,杭州,310027 |
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| 基金项目： | 国家863高技术研究发展计划资助项目 |
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| 摘 要： | 提出一种潜入式微细管道机器人的全程定位方法,设计了基于PSD位置敏感原理的曲率传感器及其检测系统.结合机器人移动参数及检测的初始条件,运用管道机器人全程定位算法在全局坐标中描述了管道机器人的空间位置.
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| 关 键 词： | 曲率传感器 二维PSD 管道检测 全程定位 |
| 文章编号： | 1004-132X(2004)16-1418-04 |
| 修稿时间： | 2003-12-10 |
Method of Full Process Positioning for 3D Micro-pipe Robot |
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| Jin Chengzhu Li Jiangxiong Ke Yinglin Zhejiang University,Hangzhou. Method of Full Process Positioning for 3D Micro-pipe Robot[J]. China Mechanical Engineering, 2004, 15(16): 1418-1421 |
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| Authors: | Jin Chengzhu Li Jiangxiong Ke Yinglin Zhejiang University Hangzhou |
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| Affiliation: | Jin Chengzhu Li Jiangxiong Ke Yinglin Zhejiang University,Hangzhou,310027 |
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| Abstract: | A method of full process positioning for 3D micro-pipe robot was presented. Curvature sensor and system were designed based on the position sensitivity of PSD, which was driven by a pipe robot to measure the local characteristics of 3D pipe axis. With the motion parameters of the robot and the initial conditions of detection, the global coordinate of micro-robot can be obtained by full process positioning algorithm. |
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| Keywords: | curvature sensor 2D PSD in-pipe inspection full process positioning |
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