کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
802535 904402 2010 19 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Motion kinematics analysis of wheeled–legged rover over 3D surface with posture adaptation
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Motion kinematics analysis of wheeled–legged rover over 3D surface with posture adaptation
چکیده انگلیسی

This paper proposes a general formulation of the kinetostatic model of articulated wheeled rovers that move on rough terrains. Differential kinematic model is used to control the generalized trajectory of the robot, composed of position and posture parameters. These posture parameters have been optimized in order to provide high stability and traction performance, during motion on irregular ground surface. Numerical simulation and experimental results, carried out on a hybrid wheeled–legged robot, show the validity of the approach presented in this paper.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 45, Issue 3, March 2010, Pages 477–495
نویسندگان
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