Kinematic Analysis and Leveling Control Method for a Novel Wheel- Legged Robot
Sun Zhibo, Liu Jinhao*, Yu Chunzhan, Kan Jiangming
Identifiers and Pagination:Year: 2015
First Page: 467
Last Page: 474
Publisher Id: TOMEJ-9-467
Article History:Received Date: 21/12/2014
Revision Received Date: 13/4/2015
Acceptance Date: 14/4/2015
Electronic publication date: 24/7/2015
Collection year: 2015
open-access license: This is an open access article distributed under the terms of the Creative Commons Attribution 4.0 International Public License (CC-BY 4.0), a copy of which is available at: (https://creativecommons.org/licenses/by/4.0/legalcode). This license permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
The paper introduces a novel auto-leveling system applied to the obstacle-surmounting robot with six wheellegs. The leveling model of the robot with six wheel legs and one articulated steering is analyzed. Besides, the kinematic model of the robot is presented. In order to optimize the leveling algorithm, a special PID control strategy with the leveling matrix is applied to the leveling system. The experiment shows that the new leveling system can improve the efficiency and the stability of the leveling performance: the leveling time is reduced by 3.5 seconds and the obvious tilt fluctuations are decreased by 5 times.