摘要
介绍了一种载有水轮机转轮修磨设备的移动机器人的系统原理、路径规划方案、路径形状设计和路径跟踪控制及其实现.这种路径规划和路径跟踪控制并不只适用于水轮机转轮这种大型工件,若在路径规划过程中,考虑具体加工对象的几何外形的特点,对路径规划方法加以改造,同样适合于其它特殊外形的几何工件.
This paper introduces in detail the system principle?the route planning project?the form design of the route?the route following control and its implementation of a mobile robot loading a repairing and grinding equipment for a large turbine blade. The methods of the route planning and route following control are not only useful for a large workpiece such as the turbine blade,but also suitable for some other particular geometric workpiece if considering its geometric contour feature of the specific object processed and improving the method of route planning.
出处
《兰州铁道学院学报》
2003年第1期118-122,共5页
Journal of Lanzhou Railway University
基金
甘肃省自然科学基金资助项目(ZR-96-036)
关键词
水轮机
转轮
修磨
移动机器人
路径规划
路径跟踪控制
turbine blade
repairing and grinding
mobile robot
route planning
route following control
