摘要
为方便实现对桥梁缆索的检测和日常维护任务,利用蛇形机器人良好的适应性,通过研究其控制规律,给出了一种简单的并可实现蛇形机器人沿缆索进行螺旋攀爬运动的控制函数。分析了螺旋攀爬运动中控制参数与螺旋参数之间的关系,利用粒子群优化算法对控制参数与螺旋半径、螺旋上升角、螺距之间的关系进行优化拟合,给出了拟合函数。通过Webots仿真软件进行蛇形机器人桥梁缆索攀爬运动仿真,验证了控制函数和拟合函数的有效性,并将控制函数和拟合函数应用在实际的蛇形机器人系统上,实现了蛇形机器人在缆索上的螺旋攀爬运动。
In order to implement the detection and routine maintenance of the bridge cables in a convenient way, a simple control function for the helical climbing locomotion of the snake-like robot is implemented by studying the control law and using the good adaptability of the robot. By using the PSO, the relationship between the control parameters and helical parameters of the helical climbing locomotion is analyzed and the fitting functions are given. By using the Webots professional mobile robot simulation software to simulate the helical climbing locomotion of the robot, the feasible of the control function and the fitting functions are verified. The control function and the fitting functions are used in the actual snake-like robot, the helical climbing locomotion is realized on the bridge cables.
出处
《计算机工程与设计》
CSCD
北大核心
2011年第7期2451-2454,共4页
Computer Engineering and Design
基金
国家自然科学基金重点项目(60736024)
中央高校基本科研业务费基金项目(2009ZM192)
