Single arm running control method of inspection robot based on obliquitous sensor

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Single arm running control method of inspection robot based on obliquitous sensor
	Zhu XL(朱兴龙); Zhou JP(周骥平); Wang HG(王洪光); Fang LJ(房立金); Zhao MY(赵明扬)
	2006
会议名称	IEEE International Conference on Robotics and Biomimetics (ROBIO 2006)
会议日期	December 17-20, 2006
会议地点	Kunming, China
关键词	single arm running centroid adjustment inspection of power transmission lines mobile robot
页码	187-192
通讯作者	朱兴龙
中文摘要	Inspection robot encounters upslope and downslope, when single wheel runs on overhead ground wires (OGWs) which displays catenary shape. The tilt of inspection robot's body is happened because the contact point between single wheel and overhead line is variational with the angle variation of catenary in different position during single wheel running procedure, and causes the gravity torque unbalance. Above problem disenable to check vertically power transmission line by the high-speed dome camera. A centroid adjustment method, which can enable to keep the body of inspection robot in horizontal pose, is presented by the obliquitous sensor adjusting the centroid position in this paper. In order to implement centroid adjustment, the equilibrium condition equation and the dynamic model of centroid adjustment mechanism is established by Lagrange method. Finally, the simulation results test that the centroid adjustment method proposed is feasible.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ
会议录	2006 IEEE International Conference on Robotics and Biomimetics, Vols 1-3
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-0570-1
WOS记录号	WOS:000245907300033
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8880]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Zhu XL,Zhou JP,Wang HG,et al. Single arm running control method of inspection robot based on obliquitous sensor[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2006). Kunming, China. December 17-20, 2006.