Study on the Architecture and Motion Control of the Traverse Robot
Jun Hui Wu, Tong Di Qin, Jie Chen, Kai Yan Lin, Hui Ping Si, Chi Bin Zhang · Advanced materials research · 2013
In order to keep the problem of robot obstacle avoidance and the traversal motion control simple, the performance and characteristics of the traverse robot are described firstly, followed the architecture of horizontal and vertical was adopted, and the traversal robots based on hybrid architecture was designed independently, also, the architecture met the performance needs of the traverse robot. Then the kinematic model of the robot was created and analyzed, and the motion control strategy based on the traversal robot was obtained. The strategy not only simplified the movement of the traversal robot, but it also completed the different methods of obstacle avoidance, which ensure the efficiency and reliability of the overall running of traversal robots.