摘要
提出一种潜入式微细管道机器人的全程定位方法,设计了基于PSD位置敏感原理的曲率传感器及其检测系统。结合机器人移动参数及检测的初始条件,运用管道机器人全程定位算法在全局坐标中描述了管道机器人的空间位置。
A method of full process positioning for 3D micro-pipe robot was presented. Curvature sensor and system were designed based on the position sensitivity of PSD, which was driven by a pipe robot to measure the local characteristics of 3D pipe axis. With the motion parameters of the robot and the initial conditions of detection, the global coordinate of micro-robot can be obtained by full process positioning algorithm.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2004年第16期1418-1421,共4页
China Mechanical Engineering
基金
国家863高技术研究发展计划资助项目
关键词
曲率传感器
二维PSD
管道检测
全程定位
curvature sensor
2D PSD
in-pipe inspection
full process positioning
