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The Modeling and Simulation of Kinetic Analysis of Nonholonomic Systems for the Omni-Directional Wall Climbing Robot

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Intelligent Robotics and Applications (ICIRA 2013)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8103))

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Abstract

This paper studies the modeling and simulation of kinetic analysis for the omin-directional wall climbing robot system. The kinetic equation is necessary for the robot control. Based on Apell equation, dynamic model of the robot is established and the positive and inverse solutions are obtained, the result is proved correct simulated by simulating with Matlab. Finally, it obtained its purpose of the acceleration control and satisfies the requirements of precise motion control.

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Author information

Authors and Affiliations

  1. State Key Lab of Mechanical System and Vibration, Shanghai JiaoTong University, Shanghai, 200240, P.R. China

    W. X. Yan, Yan-Zheng Zhao & Z. Fu

  2. State Key Lab of Robotics and System (HIT), Harbin, 150001, P.R. China

    H. F. Zhou, Z. Fu & Y. Wang

Authors
  1. W. X. Yan
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  2. H. F. Zhou
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  3. Yan-Zheng Zhao
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  4. Z. Fu
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  5. Y. Wang
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Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, Pusan National University, South Korea

    Jangmyung Lee

  2. School of Mechanical Engineering, Pusan National University, Busan, South Korea

    Min Cheol Lee

  3. Intelligent Systems & Biomedical Robotics Group, School of Creative Technologies, University of Portsmouth, PO1 2DJ, England, UK

    Honghai Liu

  4. School of Mechanical Engineering, Biorobotics Laboratory, Korea University of Technology and Education, Gajeon-ri Byeongcheon-myeon 307, 330-708, Cheonan, Korea

    Jee-Hwan Ryu

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© 2013 Springer-Verlag Berlin Heidelberg

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Yan, W.X., Zhou, H.F., Zhao, YZ., Fu, Z., Wang, Y. (2013). The Modeling and Simulation of Kinetic Analysis of Nonholonomic Systems for the Omni-Directional Wall Climbing Robot. In: Lee, J., Lee, M.C., Liu, H., Ryu, JH. (eds) Intelligent Robotics and Applications. ICIRA 2013. Lecture Notes in Computer Science(), vol 8103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40849-6_2

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  • DOI: https://doi.org/10.1007/978-3-642-40849-6_2

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-40848-9

  • Online ISBN: 978-3-642-40849-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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