Control and Obstacle Avoidance for Deployable Robot Based on SLPM

Abstract

In this paper, a control system is designed for SLPM (Spherical-Linkage Parallel Mechanism) based deployable robot to realize the robot's functions based on the parameters collected by the sensors. The motion planning of obstacle avoidance was completed and the corresponding line driven control was proposed. The prototype was fabricated and experimentally verified. Thus, the characteristics of the deployable robot adaptable to various complex environments were fully exploited.