Duct Cleaning Robot Comprehensive Kinematics Modeling And Analysis Considering the Complex Terrain

摘要

Complex terrain conditions greatly influences the movement of mobile robot,which should not be neglected.In this paper,a novel motion modeling idea is proposed,in which the robot chassis attitude angle changes caused by topographic changes was real-timely measured and be input into the robot kinematic modeling process to establish the overall kinematic model of robot.This modeling method reflect the various parts of the robot motion relations,and also display the complex topography of the robot trajectory of the end of the actuator.Finally,validated and analyzed the feasibility of the modeling method.