Search engine for discovering works of Art, research articles, and books related to Art and Culture
Javascript must be enabled to continue!
Kinematic Analysis and Leveling Control Method for a Novel Wheel- Legged Robot
View through CrossRef
The paper introduces a novel auto-leveling system applied to the obstacle-surmounting robot with six wheellegs.
The leveling model of the robot with six wheel legs and one articulated steering is analyzed. Besides, the kinematic
model of the robot is presented. In order to optimize the leveling algorithm, a special PID control strategy with the
leveling matrix is applied to the leveling system. The experiment shows that the new leveling system can improve the
efficiency and the stability of the leveling performance: the leveling time is reduced by 3.5 seconds and the obvious tilt
fluctuations are decreased by 5 times.
Bentham Science Publishers Ltd.
Title: Kinematic Analysis and Leveling Control Method for a Novel Wheel-
Legged Robot
Description:
The paper introduces a novel auto-leveling system applied to the obstacle-surmounting robot with six wheellegs.
The leveling model of the robot with six wheel legs and one articulated steering is analyzed.
Besides, the kinematic
model of the robot is presented.
In order to optimize the leveling algorithm, a special PID control strategy with the
leveling matrix is applied to the leveling system.
The experiment shows that the new leveling system can improve the
efficiency and the stability of the leveling performance: the leveling time is reduced by 3.
5 seconds and the obvious tilt
fluctuations are decreased by 5 times.
Related Results
Sistem Kendali Hybrid Fuzzy-Pid pada Kinematika Robot Berkaki 4 Menggunakan Sensor Gyroscope
Sistem Kendali Hybrid Fuzzy-Pid pada Kinematika Robot Berkaki 4 Menggunakan Sensor Gyroscope
<p><em>Legged robots have attracted the attention of researchers because of their superior adaptation to complex environments compared to wheeled robots. Legged robots ...
Nonlinear optimal control for robotic exoskeletons with electropneumatic actuators
Nonlinear optimal control for robotic exoskeletons with electropneumatic actuators
Purpose
To provide high torques needed to move a robot’s links, electric actuators are followed by a transmission system with a high transmission rate. For instance, gear ratios of...
Gradient-based LASER Land Leveling Increases the Water Use Efficiency, Growth, and Yield of Cotton Crop under Changing Climate
Gradient-based LASER Land Leveling Increases the Water Use Efficiency, Growth, and Yield of Cotton Crop under Changing Climate
Increasing water shortage has compelled farmers to develop plans for efficient use of water resources. The improvement in water use efficiency at the field level is very important ...
The robot null space : new uses for new robotic systems
The robot null space : new uses for new robotic systems
This doctoral thesis deals with the use of the robot redundancy to execute several tasks simultaneously at different levels of priority and its application to two different robotic...
Sistem Remote Control Robot Beroda Menggunakan Teknologi Leap Motion
Sistem Remote Control Robot Beroda Menggunakan Teknologi Leap Motion
Interaksi manusia dan komputer (IMK) adalah ilmu yang mempelajari bagaimana manusia bisa berinteraksi dengan komputer. Robot merupakan sebuah mesin komputer yang dapat membantu m...
Trajectory Tracking of Mobile Robots with Slip and Skid Compensation
Trajectory Tracking of Mobile Robots with Slip and Skid Compensation
<p><strong>Autonomous wheeled mobile robots are capable of working in outdoor environments to reduce the risk for human operators or increase productivity. Accounting f...
Robust stabilization control of live working robot under wind load based on angular momentum conservation principle
Robust stabilization control of live working robot under wind load based on angular momentum conservation principle
In respond to the problem that the live working robot is easy to be affected by wind load in the process of field high altitude operation, which result in robot body rolling with p...