基于障碍物辅助运动的蛇形机器人运动学分析

2012 IEEE 10th International Symposium on Applied Machine Intelligence and Informatics (SAMI) Pub Date : 2012-01-01 DOI:10.1109/SAMI.2012.6209009

R. Surovec, A. Gmiterko, M. Kelemen, F. Šimčák, M. Fodor, Ivan Virgala, E. Prada, M. Vacková

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引用次数: 3

摘要

本文研究了蛇形机器人的障碍辅助运动问题，这是机电一体化领域的实际问题。由于许多蛇采用这种运动方式，因此第一步也是最重要的一步是运动学分析。为此目的适用了德纳维特-哈滕贝格公约。该方法根据基本坐标系对放置在障碍物中的各环节的位置矢量分量进行赋值。运动学问题是求解动力学问题的垫脚石。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Kinematic analysis of snake-like robot using obstacle aided locomotion

This paper deals with an obstacle aided locomotion of snake-like robot, which is the actual problem in the field of mechatronics. Because of many snakes using this kind of locomotion, the first step and hereby the most important is a kinematic analysis. The Denavit-Hartenberg convention was applied for this purpose. By this method the position vector components of each link according to basic coordinate system placed into any obstacle was assigned. Kinematic problem is a stepping-stone to the dynamic solution.

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2012 IEEE 10th International Symposium on Applied Machine Intelligence and Informatics (SAMI)

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