Research on the Posture Kinematics Model of Multi-Joint Caterpillar Robot and its Motion Control

It is higher superior of the caterpillar mobile robots to others types of robots in unknown complex environment, the advantage is apparently; but the issue is, it is difficulty in exact analyzing the posture of the robot kinematics model. In this paper, the new ideas proposed in the view of this issue, on the solution of posture motion model in the non-structural environment, motion agencies is transformed by the equivalent mechanism transformation, a fixed posture on the ground movement model is established by the screw theory. The posture model of non-holonomic constraints multi-joint caterpillar robot could be transferred into a kinematics model of parallel mechanism posture. Besides, the posture control method on over-obstacle stability is proposed, analyzing with the controlling experiment.

[1]  Mohan M. Trivedi,et al.  Reactive locomotion control of articulated-tracked mobile robots for obstacle negotiation , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[2]  Shugen Ma,et al.  Analysis of Creeping Locomotion of a Snake-like Robot on a Slope , 2002 .

[3]  S. Hirose,et al.  Study on Roller-Walker (system integration and basic experiments) , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[4]  R. McGhee,et al.  On the stability properties of quadruped creeping gaits , 1968 .

[5]  费燕琼,et al.  Study on Distributed Motion of Self-Reconfigurable Robot Based on Local Rules , 2007 .

[6]  Richard M. Murray,et al.  A Mathematical Introduction to Robotic Manipulation , 1994 .