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:  2020
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:  85
:   .., .. // . 85. .: , 2020. .258-287.DOI: https://doi.org/10.25728/ubs.2020.85.11
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(.):  crawling robot, control system, gait control unit, block formation of setting influences, control unit links, correction system
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(.):  The work is devoted to the development of a control system for the movement of a crawling robot when it moves on a horizontal rough surface. This system is a three-level and consists of the following units: gait control, formation of setting influences and control links. The greatest attention is paid to the system of formation of the setting influences, namely the system of correction of lengths of links of the robot entering into it and formation of laws of change of angles of their rotation. Correction of the length of the links may be necessary for the implementation of certain movements, for example, changing the configuration of the device when fixing on the surface of the two extreme supports, which is considered in this work. A sequential three-stage correction algorithm is proposed, in which the length of the central link first varies, then one of the side links and only then the second side link. Each subsequent stage is carried out only if the previous one is insufficient to prevent the robot from falling into special positions, in which there is a loss of all degrees of mobility. The proposed control system structure is built in such a way that, on the one hand, to determine directly the influence of the geometric parameters of the robot to the nature of the resulting motion, and to ease the algorithmic and software implementation of the proposed control law, allowing to implement a control system for extremely simple calculators. The adequacy of the developed control system has been verified by numerical simulation of the robot's motion and charting the correction options depending on the permissible values of elongation / shortening of the links and the initial and final configurations of the object.

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