{"title":"基于SLPM的可展开机器人控制与避障","authors":"Zheming Zhuang, Ze-Sheng Zhang, Yuntao Guan, Yong-Xin Liu, Erke Qin, Jiansheng Dai","doi":"10.1109/RCAE56054.2022.9995811","DOIUrl":null,"url":null,"abstract":"In this paper, a control system is designed for SLPM (Spherical-Linkage Parallel Mechanism) based deployable robot to realize the robot's functions based on the parameters collected by the sensors. The motion planning of obstacle avoidance was completed and the corresponding line driven control was proposed. The prototype was fabricated and experimentally verified. Thus, the characteristics of the deployable robot adaptable to various complex environments were fully exploited.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Control and Obstacle Avoidance for Deployable Robot Based on SLPM\",\"authors\":\"Zheming Zhuang, Ze-Sheng Zhang, Yuntao Guan, Yong-Xin Liu, Erke Qin, Jiansheng Dai\",\"doi\":\"10.1109/RCAE56054.2022.9995811\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, a control system is designed for SLPM (Spherical-Linkage Parallel Mechanism) based deployable robot to realize the robot's functions based on the parameters collected by the sensors. The motion planning of obstacle avoidance was completed and the corresponding line driven control was proposed. The prototype was fabricated and experimentally verified. Thus, the characteristics of the deployable robot adaptable to various complex environments were fully exploited.\",\"PeriodicalId\":165439,\"journal\":{\"name\":\"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)\",\"volume\":\"23 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-10-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RCAE56054.2022.9995811\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RCAE56054.2022.9995811","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Control and Obstacle Avoidance for Deployable Robot Based on SLPM
In this paper, a control system is designed for SLPM (Spherical-Linkage Parallel Mechanism) based deployable robot to realize the robot's functions based on the parameters collected by the sensors. The motion planning of obstacle avoidance was completed and the corresponding line driven control was proposed. The prototype was fabricated and experimentally verified. Thus, the characteristics of the deployable robot adaptable to various complex environments were fully exploited.
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