Research for the kinematic and dynamic models of a flexible glass-wall cleaning robot

Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics

Volumn 29, Issue 9, 2003, Pages 763-766

  Wang, Wei ^a   Zong, Guanghua ^a  

^a BEIHANG UNIVERSITY   (China)

Author keywords

Dynamics; Kinematics; Nonholonomic constraint; Wall climbing robot

Indexed keywords

DYNAMICS; INTELLIGENT ROBOTS; KINEMATICS; MATHEMATICAL MODELS; MOTION CONTROL; STRUCTURE (COMPOSITION);

CLEANING ROBOT; DYNAMICS MODEL; KINEMATICS MODEL; WALL CLIMBING ROBOT;

MOBILE ROBOTS;

EID: 1442352154     PISSN: 10015965     EISSN: None     Source Type: Journal    
DOI: None     Document Type: Article

References (5)

1. Murray R M, Li Zexiang, Sastry S S. A mathematical introduction to robotic manipulation[M]. Xu Weiliang, Qian Ruiming Trans. Beijing: Mechanical Engineering Press, 1998 (in Chinese)
2. Wang Wei. The research for a flexible glass-wall cleaning robot[D]. Beijing: School of mechanical Engineering and Technology, Beijing University of Aeronautics and Astronautics, 2000 (in Chinese)
3. Skhavat S, Svestka P. Multilevel path planning for nonholonomic robots using semiholonomic subsystems[J]. The International Journal of Robotics Research, 1998, 17(2): 169-192.
4. Szcerba R J, Chen D Z. Planning shortest paths among 2D and 3D weighted regions using framed-subspaces[J]. The International Journal of Robotics Research, 1998, 17(5): 531-546.
5. Briones L, Bustamante P. Robicen: a wall-climbing pneumatic robot for inspection in nuclear power plants[J]. Robotics and Computer-Integrated Manufacturing, 1994, 11(4): 187-292.