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	Kinematic modeling and characteristic analysis for wheeled mobile robots in round ducts/pipes
	Song Zhang-Jun ; Chen Ken ; Yang Xiang-Dong
	2010-05-10 ; 2010-05-10
关键词	Theoretical or Mathematical/ control system analysis mobile robots motion control position control robot kinematics/ kinematic modeling characteristic analysis wheeled mobile robots round ducts round pipes motion control wheel position wheel motion wheel center trajectory wheel center velocity instantaneous screw rigid-body motion steering wheel/ C3390C Mobile robots C3120C Spatial variables control C1310 Control system analysis and synthesis methods E2230 Robot and manipulator mechanics
中文摘要	To solve the motion control problem of wheeled mobile robots in round ducts or pipes, kinematic characteristics of wheeled mobile robots in round ducts or pipes are analyzed. Description of the position and motion of a wheel on a plane is applied to the cylinder of round ducts/pipes by dint of the tangent plane of the contacting point. The trajectory and velocity of the center of the wheel is educed when it purely rolls in the cylinder. With the theory of instantaneous screw of a rigid-body motion, the kinematic model of three-wheel type (1,1) robots with two fixed wheels and a steering wheel in the cylinder of round ducts/pipes is presented and discussed. Simulation results are presented to show the performance of the kinematic model.
语种	中文 ; 中文
出版者	Chinese Assoc. of Automation ; China
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/25346]
专题	清华大学
推荐引用方式 GB/T 7714	Song Zhang-Jun,Chen Ken,Yang Xiang-Dong. Kinematic modeling and characteristic analysis for wheeled mobile robots in round ducts/pipes[J],2010, 2010.
APA	Song Zhang-Jun,Chen Ken,&Yang Xiang-Dong.(2010).Kinematic modeling and characteristic analysis for wheeled mobile robots in round ducts/pipes..
MLA	Song Zhang-Jun,et al."Kinematic modeling and characteristic analysis for wheeled mobile robots in round ducts/pipes".(2010).

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