| “穿地龙”机器人及其位姿检测系统的研究 |
| |
| 引用本文： | 王殿君 刘淑晶 任福君 王茁 孟庆鑫. “穿地龙”机器人及其位姿检测系统的研究[J]. 机械科学与技术, 2005, 24(12): 1433-1436 |
| |
| 作者姓名： | 王殿君 刘淑晶 任福君 王茁 孟庆鑫 |
| |
| 作者单位： | [1]北京石油化工学院机械工程学院,北京102617 [2]哈尔滨理工大学,哈尔滨150080 [3]哈尔滨工程大学,哈尔滨150001 |
| |
| 基金项目： | 黑龙江省科学技术计划（攻关）项目（200l0l0l005-00）资助 |
| |
| 摘 要： | 在讨论了“穿地龙”机器人的结构和工作原理的基础上,提出“自主式”机器人位姿检测的方法,并建立了机器人位姿检测的软硬件系统,推导了机器人在土中位姿计算的数学模型。土中穿孔实验证明这种位姿检测的方法可准确、方便、可靠地检测机器人位姿,这对“穿地龙”机器人工况条件下的实际轨迹控制和进行“穿地龙”机器人的应用分析打下了一定的理论基础。
|
| 关 键 词： | “穿地龙”机器人 位姿检测 测长传感器 |
| 文章编号： | 1003-8728（2005）12-1433-04 |
| 收稿时间： | 2004-11-24 |
| 修稿时间： | 2004-11-24 |
Research on a "Dragon of Puncturing Mud"Robot and Its Position & Gesture Measuring System |
| |
| Wang Dianjun, Liu Shujing, Ren Fujun, Wang Zhuo, Meng Qingxin. Research on a "Dragon of Puncturing Mud"Robot and Its Position & Gesture Measuring System[J]. Mechanical Science and Technology for Aerospace Engineering, 2005, 24(12): 1433-1436 |
| |
| Authors: | Wang Dianjun Liu Shujing Ren Fujun Wang Zhuo Meng Qingxin |
| |
| Affiliation: | 1. Faculty of Mechanical Engineering, Beijing Institute of Petro-Chemical Technology, Beijing 102617; 2. Harbin University of Science and Technology, Harbin 150080; 3. Harbin Engineering University,Harbin 150001 |
| |
| Abstract: | Based on the discussion about a "dragon of puncturing mud" robot′s structure and work principle,the method of the robot's "self-determination" position and gesture measurement is put forward,and its software and hardware systems are established.At the same time,the mathematical models for calculating its position and gesture during its work in mud are built.A mud puncture experiment shows that the method can measure the position and gesture of a robot accurately and reliably.Meanwhile,the method lays theoretical foundations for controlling a robot′s actual tracks and for the analysis and application of a "dragon of puncturing mud" robot. |
| |
| Keywords: | " dragon of puncturing mud" robot,position and gesture measurement,length measurement sensor |
| 本文献已被 CNKI 维普 等数据库收录！ |
