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

Wei Wang; Guanghua Zong

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

Wei Wang^*
, Guanghua Zong

^*此作品的通讯作者

机械工程及自动化学院

Beihang University

科研成果: 期刊稿件 › 文章 › 同行评审

5 引用（Scopus）

摘要

A structure for smart wall-climbing robot was proposed. The conception of Lie Group and differential geometry were used in the robot controllability analysis. The kinematic and dynamic models of the robot were described. The expression of Lagrange multiplier was acquired to represent the magnitude of the constraint force.

源语言	英语
页（从-至）	763-766
页数	4
期刊	Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics
卷	29
期	9
出版状态	已出版 - 9月 2003

其它文件与链接

链接到 Scopus 的出版物

引用此

@article{e9a14267bfde47fe9c81bfdd4898abed,

title = "Research for the kinematic and dynamic models of a flexible glass-wall cleaning robot",

abstract = "A structure for smart wall-climbing robot was proposed. The conception of Lie Group and differential geometry were used in the robot controllability analysis. The kinematic and dynamic models of the robot were described. The expression of Lagrange multiplier was acquired to represent the magnitude of the constraint force.",

keywords = "Dynamics, Kinematics, Nonholonomic constraint, Wall-climbing robot",

author = "Wei Wang and Guanghua Zong",

year = "2003",

month = sep,

language = "英语",

volume = "29",

pages = "763--766",

journal = "Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics",

issn = "1001-5965",

publisher = "Beijing University of Aeronautics and Astronautics (BUAA)",

number = "9",

}

TY - JOUR

T1 - Research for the kinematic and dynamic models of a flexible glass-wall cleaning robot

AU - Wang, Wei

AU - Zong, Guanghua

PY - 2003/9

Y1 - 2003/9

N2 - A structure for smart wall-climbing robot was proposed. The conception of Lie Group and differential geometry were used in the robot controllability analysis. The kinematic and dynamic models of the robot were described. The expression of Lagrange multiplier was acquired to represent the magnitude of the constraint force.

AB - A structure for smart wall-climbing robot was proposed. The conception of Lie Group and differential geometry were used in the robot controllability analysis. The kinematic and dynamic models of the robot were described. The expression of Lagrange multiplier was acquired to represent the magnitude of the constraint force.

KW - Dynamics

KW - Kinematics

KW - Nonholonomic constraint

KW - Wall-climbing robot

UR - https://www.scopus.com/pages/publications/1442352154

M3 - 文章

AN - SCOPUS:1442352154

SN - 1001-5965

VL - 29

SP - 763

EP - 766

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

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

IS - 9

ER -

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

摘要

其它文件与链接

指纹

引用此