Research on the Posture Kinematics Model of Multi-Joint Caterpillar Robot and its Motion Control
It is higher superior of the caterpillar mobile robots to others types of robots in unknown complex environment, the advantage is apparently; but the issue is, it is difficulty in exact analyzing the posture of the robot kinematics model. In this paper, the new ideas proposed in the view of this issue, on the solution of posture motion model in the non-structural environment, motion agencies is transformed by the equivalent mechanism transformation, a fixed posture on the ground movement model is established by the screw theory. The posture model of non-holonomic constraints multi-joint caterpillar robot could be transferred into a kinematics model of parallel mechanism posture. Besides, the posture control method on over-obstacle stability is proposed, analyzing with the controlling experiment.
X. P. Li et al., "Research on the Posture Kinematics Model of Multi-Joint Caterpillar Robot and its Motion Control", Applied Mechanics and Materials, Vols. 52-54, pp. 417-423, 2011