一种双臂巡检机器人的质心调整策略  

Centroid adjustment strategy for a dual arm inspection robot

作　　者：李贞辉[1,2] 王洪光[1] 王越超[1] 

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院大学,北京100049

出　　处：《智能系统学报》2014年第6期665-671,共7页CAAI Transactions on Intelligent Systems

基　　金：国家"863"计划资助项目(2006AA04Z203)

摘　　要：针对一种双臂巡检机器人单臂挂线越障时的动态稳定问题,提出了一种质心调整策略。在分析机器人越障过程的基础上,建立了机器人单臂挂线时的动力学模型,设计了一种状态反馈控制器。提出以过渡时间最短为目标规划关节变量,设定机器人倾角和两臂间距为控制目标,实时调节各关节运动,通过控制调整机器人质心位置实现机器人越障时的稳定运动。仿真和实验证明了所提质心调整策略的可行性。In this paper, a centroid adjustment strategy is presented for solving the dynamic stability problem for a dual arm inspection robot when it is hung by single arm. Based on analysis of the obstacle crossing process of the robot, a kinetic model is established when the robot is hung by a single arm and a statefeedback controller based on the robot model is presented. This paper also discusses the planning method for the variable of joints based on shortest transition time, achieving the dynamically stable movement by regulating joint variables in time and adjusting the centroid of the robot. The simulation and experimental results showed that the centroid adjustment strategy is feasible.

关 键 词：移动机器人 巡检机器人 双臂机器人 质心调整 反馈控制器 高压输电线 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]