Simulation and control of the segmented inspection robot MAKRO

被引：0

作者：

Klaassen, B ^{[1
]}

Streich, H ^{[1
]}

Rome, E ^{[1
]}

Kirchner, F ^{[1
]}

机构：

[1] Fraunhofer Inst, St Augustin, Germany

来源：

ROBOTIK 2002 | 2002年 / 1679卷

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The combined modeling and control task for a multi-joint sewer inspection system is described. The robot, called MAKRO1.1 is of Worm-like shape and designed for pipes of 30 to 60 cm Width. Since the control of more than 20 degrees of freedom is not a simple task, we need simulation of the robots kinematics before and during every run. In this case, our simulation of the robot's motions is fast enough to run as a visualization tool. The construction of, trajectories and the methods to follow and to Visualize them are presented.

引用

页码：611 / 616

页数：6

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