In Six Legged Mobile Robot On Uneven Ground Position And Posture Analysis, Detection And Control

This article concerned about the gesture controlling problems of the six-wheel-leggedrobot in none level up ground, brought forward the general analyse method about thegesture and location of the six-wheel-legged robot in un-level up ground. According to thestructural characters and gesture regulating principle, established the kinematics anddynamics model about the mobile robot steering in the none level up ground, then educedthe kinematics and dynamics equation. Also adopting the coordinate switching method,educed the location and gesture equation and its kinematics positive uncoil and negativeuncoil, on the base of up condition deduced the mobile robot's kinematics relationshipbetween its gesture regulating and working flat roof. According to the mobile robot'sgesture mainly depended on regulating characters by the initiative machine arm, firstlyobtained the whole dynamics equation of mobile robot in the whole, then using thefunction-energy equity of Lagrange deduced the initiative machine arm's dynamicsequation, fmaly gained the controlling equation with Laplace transform. According to therequests of the structural characters and location and gesture analysis, adopted the locationand gesture testing method using multi-sensors. Finally, adopting the delaminationcontrolling ideology, made the fringe design of hardware and software controlling systemabout the mobile robot's location and gesture.