Tree climbing robot: design, kinematics and motion planning
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
Berlin [u.a.]
Springer
2012
|
| Series: | Springer tracts in advanced robotics
78 |
| Subjects: | |
| Online Access: | Inhaltsverzeichnis Inhaltstext Inhaltsverzeichnis |
| Item Description: | Literaturverz. S. [155] - 159 |
| Physical Description: | XX, 163 S. Ill., graph. Darst. 243 mm x 160 mm |
| ISBN: | 3642283101 9783642283109 |
Staff View
MARC
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| 100 | 1 | |a Lam, Tin Lun |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Tree climbing robot |b design, kinematics and motion planning |c Tin Lun Lam and Yangsheng Xu |
| 264 | 1 | |a Berlin [u.a.] |b Springer |c 2012 | |
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Record in the Search Index
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IMAGE 1
CONTENTS
1 INTRODUCTION 1
1.1 BACKGROUND 1
1.2 MOTIVATION 2
1 .3 OUTLINE O F THE BOOK 3
2 STATE-OF-THE-ART TREE-CLIMBING ROBOTS 5
2.1 W O O D Y 5
2.2 KAWASAKI'S PRUNING ROBOT 6
2.3 SEIREI INDUSTRY'S PRUNING ROBOT 6
2.4 TREPA 7
2.5 RISE * 7
2.6 MODULAR SNAKE ROBOT 8
3 METHODOLOGY O F TREE CLIMBING 9
3.1 TREE-CLIMBING METHODS IN NATURE 9
3.2 ARTIFICIAL TREE-CLIMBING METHODS 11
3.3 DESIGN PRINCIPLES FOR TREE-CLIMBING ROBOTS 14
3.4 RANKING O F THE TREE-CLIMBING METHODS 15
3.4.1 MANEUVERABILITY 15
3.4.2 ROBUSTNESS 17
3.4.3 COMPLEXITY 17
3.4.4 ADAPTABILITY 18
3.4.5 SIZE 19
3.4.6 SPEED 19
3.5 SUMMARY 2 0
4 A NOVEL TREE-CLIMBING ROBOT: TREEBOT 2 3
4.1 OBJECTIVES 2 3
4.2 APPROACH TO THE R O B O T DESIGN 2 4
HTTP://D-NB.INFO/1019143207
IMAGE 2
X I V C O N T E N T S
4.3 STRUCTURE 2 4
4.3.1 TREE GRIPPER 2 6
4.3.2 CONTINUUM BODY 27
4.3.3 SEMI-PASSIVE JOINT 3 2
4.3.4 SENSORS 3 4
4.4 LOCOMOTION 3 4
4.5 HARDWARE PROTOTYPE 3 7
4.6 ENERGY CONSUMPTION 4 0
4.7 ACCESSORIES 4 0
4.8 CONTROL 41
4.8.1 CONTROL ARCHITECTURE 41
4.8.2 MANUAL CONTROL 4 3
4.9 EXPERIMENTS 4 3
4.9.1 GENERALITY 4 4
4.9.2 TRANSITION MOTION 4 4
4.9.3 TURNING MOTION 4 5
4.9.4 SLOPE CLIMBING 4 6
4.9.5 PAYLOAD 5 0
4.10 PERFORMANCE COMPARISON 5 0
4.11 SUMMARY 5 0
5 OPTIMIZATION O F THE FASTENING FORCE 5 5
5.1 GRIPPING CONFIGURATION 5 5
5.2 GENERATION O F THE ADHESIVE FORCE 57
5.3 OPTIMIZATION O F THE SPINE INSTALLATION ANGLE 6 0
5.4 GENERATION O F THE DIRECTIONAL PENETRATION FORCE 6 6
5.5 EXPERIMENTAL RESULTS 6 9
5.6 SUMMARY 7 2
6 KINEMATICS AND WORKSPACE ANALYSIS 7 3
6.1 KINEMATIC ANALYSIS 7 3
6.1.1 CONFIGURATION O F TREEBOT 7 3
6.1.2 KINEMATICS O F THE CONTINUUM BODY 7 3
6.1.3 KINEMATICS O F TREEBOT 7 6
6.1.4 TREE MODEL 7 8
6.2 WORKSPACE ANALYSIS 8 0
6.2.1 PHYSICAL CONSTRAINTS 81
6.2.2 ADMISSIBLE WORKSPACE ON A TREE SURFACE 85
6.3 SUMMARY 89
7 AUTONOMOUS CLIMBING 91
7.1 AUTONOMOUS CLIMBING STRATEGY 9 2
7.2 TREE SHAPE APPROXIMATION 9 2
7.2.1 EXPLORING STRATEGY 9 2
7.2.2 ARC FITTING 9 4
IMAGE 3
CONTENTS X V
7.2.3 TREE SHAPE RECONSTRUCTION 9 8
7.2.4 ANGLE O F C H A N G E TO THE U P P E R APEX 100
7.2.5 TREE RADIUS APPROXIMATION 100
7.3 MOTION PLANNING 102
7.3.1 STRATEGY 1 102
7.3.2 STRATEGY 2 104
7.3.3 STRATEGY 3 106
7.3.4 VERIFICATION O F TARGET POSITION 108
7.4 EXPERIMENTS 108
7.4.1 TREE SHAPE APPROXIMATION 109
7.4.2 MOTION PLANNING 110
7.4.3 CLIMBING A TREE WITH BRANCHES 113
7.5 SUMMARY 113
8 GLOBAL PATH AND MOTION PLANNING 117
8.1 STATE SPACE FORMULATION 118
8.2 PATH PLANNING 120
8.2.1 DYNAMIC PROGRAMMING 120
8.2.2 DYNAMIC ENVIRONMENT 122
8.3 MOTION PLANNING 122
8.3.1 STRATEGY O F MOTION PLANNING 123
8.3.2 POSTURE O F THE ROBOT 126
8.3.3 ADAPTIVE PATH SEGMENTATION 127
8.4 SIMULATIONS 128
8.4.1 GLOBAL PATH PLANNING 130
8.4.2 MOTION PLANNING 130
8.5 EXPERIMENTS 136
8.6 SUMMARY 137
9 CONCLUSIONS AND FUTURE WORK 139
9.1 CONCLUSION 139
9.1.1 METHODOLOGY AND DESIGN PRINCIPLE FOR TREE-CLIMBING ROBOTS 139
9.1.2 A NOVEL TREE-CLIMBING ROBOT WITH DISTINGUISH PERFORMANCE 139
9.1.3 KINEMATICS AND WORKSPACE ANALYSIS 140
9.1.4 AUTONOMOUS CLIMBING STRATEGY IN AN UNKNOWN ENVIRONMENT 141
9.1.5 GLOBAL PATH AND MOTION PLANNING ON CLIMBING IRREGULARLY SHAPED
TREES: 141
9.2 FUTURE RESEARCH DIRECTIONS 142
9.2.1 FASTENING MECHANISM 142
9.2.2 CONTINUUM MECHANISM 142
9.2.3 M A P BUILDING AND LOCALIZATION 143
IMAGE 4
X V I C O N T E N T S
A DERIVATION O F EQUATIONS 145
A . L KINEMATICS O F THE CONTINUUM BODY 145
A. 1.1 INVERSE KINEMATICS 145
A. 1.2 FORWARD KINEMATICS 146
A. 1.3 MAPPING BETWEEN THE POSTURE AND THE CARTESIAN COORDINATE 148
A.2 KINEMATICS O F TREEBOT 151
A.2.1 MAPPING BETWEEN THE POSTURE AND THE CARTESIAN COORDINATE 151
REFERENCES 155
INDEX 161 |
| any_adam_object | 1 |
| author | Lam, Tin Lun Xu, Yangsheng |
| author_GND | (DE-588)130419540 |
| author_facet | Lam, Tin Lun Xu, Yangsheng |
| author_role | aut aut |
| author_sort | Lam, Tin Lun |
| author_variant | t l l tl tll y x yx |
| building | Verbundindex |
| bvnumber | BV040330232 |
| classification_tum | DAT 815f |
| ctrlnum | (OCoLC)794528086 (DE-599)DNB1019143207 |
| dewey-full | 629.8932 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8932 |
| dewey-search | 629.8932 |
| dewey-sort | 3629.8932 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Maschinenbau / Maschinenwesen Informatik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| illustrated | Illustrated |
| indexdate | 2024-08-21T00:02:28Z |
| institution | BVB |
| isbn | 3642283101 9783642283109 |
| language | English |
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| physical | XX, 163 S. Ill., graph. Darst. 243 mm x 160 mm |
| publishDate | 2012 |
| publishDateSearch | 2012 |
| publishDateSort | 2012 |
| publisher | Springer |
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| series | Springer tracts in advanced robotics |
| series2 | Springer tracts in advanced robotics |
| spelling | Lam, Tin Lun Verfasser aut Tree climbing robot design, kinematics and motion planning Tin Lun Lam and Yangsheng Xu Berlin [u.a.] Springer 2012 XX, 163 S. Ill., graph. Darst. 243 mm x 160 mm txt rdacontent n rdamedia nc rdacarrier Springer tracts in advanced robotics 78 Literaturverz. S. [155] - 159 Baum (DE-588)4004845-7 gnd rswk-swf Lokalisation (DE-588)4195351-4 gnd rswk-swf Kletterroboter (DE-588)4571071-5 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf Kletterroboter (DE-588)4571071-5 s Baum (DE-588)4004845-7 s Bahnplanung (DE-588)4267628-9 s Lokalisation (DE-588)4195351-4 s DE-604 Xu, Yangsheng Verfasser (DE-588)130419540 aut Erscheint auch als Online-Ausgabe 978-3-642-28311-6 Springer tracts in advanced robotics 78 (DE-604)BV016421724 78 application/pdf http://d-nb.info/1019143207/04 Inhaltsverzeichnis text/html http://deposit.dnb.de/cgi-bin/dokserv?id=3966094&prov=M&dok_var=1&dok_ext=htm Inhaltstext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025184691&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Lam, Tin Lun Xu, Yangsheng Tree climbing robot design, kinematics and motion planning Springer tracts in advanced robotics Baum (DE-588)4004845-7 gnd Lokalisation (DE-588)4195351-4 gnd Kletterroboter (DE-588)4571071-5 gnd Bahnplanung (DE-588)4267628-9 gnd |
| subject_GND | (DE-588)4004845-7 (DE-588)4195351-4 (DE-588)4571071-5 (DE-588)4267628-9 |
| title | Tree climbing robot design, kinematics and motion planning |
| title_auth | Tree climbing robot design, kinematics and motion planning |
| title_exact_search | Tree climbing robot design, kinematics and motion planning |
| title_full | Tree climbing robot design, kinematics and motion planning Tin Lun Lam and Yangsheng Xu |
| title_fullStr | Tree climbing robot design, kinematics and motion planning Tin Lun Lam and Yangsheng Xu |
| title_full_unstemmed | Tree climbing robot design, kinematics and motion planning Tin Lun Lam and Yangsheng Xu |
| title_short | Tree climbing robot |
| title_sort | tree climbing robot design kinematics and motion planning |
| title_sub | design, kinematics and motion planning |
| topic | Baum (DE-588)4004845-7 gnd Lokalisation (DE-588)4195351-4 gnd Kletterroboter (DE-588)4571071-5 gnd Bahnplanung (DE-588)4267628-9 gnd |
| topic_facet | Baum Lokalisation Kletterroboter Bahnplanung |
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| volume_link | (DE-604)BV016421724 |
| work_keys_str_mv | AT lamtinlun treeclimbingrobotdesignkinematicsandmotionplanning AT xuyangsheng treeclimbingrobotdesignkinematicsandmotionplanning |
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