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	Kinematic properties of wheeled mobile robots in round ducts/pipes
	Song Zhangjun ; Chen Ken
	2010-05-10 ; 2010-05-10
会议名称	International Technology and Innovation Conference 2006. ITIC 2006 ; International Technology and Innovation Conference 2006. ITIC 2006 ; Hangzhou, China ; INSPEC
关键词	Practical/ ducts mobile robots motion control pipes robot kinematics/ wheeled mobile robot kinematic property round ducts round pipes motion control geometric constraint/ C3390C Mobile robots C3120C Spatial variables control E2230 Robot and manipulator mechanics
中文摘要	To solve the motion control problem of wheeled mobile robots in round ducts/pipes, kinematic properties of wheeled mobile robots in round ducts/pipes are analyzed. The description of posture and motion of a single wheel on a plane is applied to the wheel rolling on the wall of round ducts/pipes by dint of the tangent plane of the cylinder at the contacting point. The trajectory and velocity of the center of a single wheel pure rolling in round ducts/pipes are educed. Geometric constraints of two-wheel robots and three-wheel robots in round ducts/pipes are analyzed respectively. With the theory of instantaneous screw of a rigid-body motion, the kinematic properties of type (1,1) two-wheel robots, type (1,1) three-wheel robots, moving in round ducts/pipes is presented and discussed respectively. Simulation results are presented to show the trajectory of the center of a single wheel pure rolling on the wall of round ducts/pipes, the virtuality of the geometrical restriction equations and performance of the instant screw of the wheeled mobile robots in vertical round ducts.
会议录出版者	Inst. of Eng. and Technol ; Stevenage, UK
语种	英语 ; 英语
内容类型	会议论文
源URL	[http://hdl.handle.net/123456789/19350]
专题	清华大学
推荐引用方式 GB/T 7714	Song Zhangjun,Chen Ken. Kinematic properties of wheeled mobile robots in round ducts/pipes[C]. 见:International Technology and Innovation Conference 2006. ITIC 2006, International Technology and Innovation Conference 2006. ITIC 2006, Hangzhou, China, INSPEC.

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