Verfügbarkeit: Tree climbing robot | Technische Universität München

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Bibliographische Detailangaben
Beteiligte Personen:	Lam, Tin Lun (VerfasserIn), Xu, Yangsheng (VerfasserIn)
Format:	Buch
Sprache:	Englisch
Veröffentlicht:	Berlin [u.a.] Springer 2012
Schriftenreihe:	Springer tracts in advanced robotics 78
Schlagwörter:	Bahnplanung Baum Lokalisation Kletterroboter
Links:	http://d-nb.info/1019143207/04 http://deposit.dnb.de/cgi-bin/dokserv?id=3966094&prov=M&dok_var=1&dok_ext=htm 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
Beschreibung:	Literaturverz. S. [155] - 159
Umfang:	XX, 163 S. Ill., graph. Darst. 243 mm x 160 mm
ISBN:	3642283101 9783642283109

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adam_text	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
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author	Lam, Tin Lun Xu, Yangsheng
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discipline	Maschinenbau / Maschinenwesen Informatik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik
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id	DE-604.BV040330232
illustrated	Illustrated
indexdate	2024-12-20T16:12:43Z
institution	BVB
isbn	3642283101 9783642283109
language	English
oai_aleph_id	oai:aleph.bib-bvb.de:BVB01-025184691
oclc_num	794528086
open_access_boolean
owner	DE-91 DE-BY-TUM
owner_facet	DE-91 DE-BY-TUM
physical	XX, 163 S. Ill., graph. Darst. 243 mm x 160 mm
publishDate	2012
publishDateSearch	2012
publishDateSort	2012
publisher	Springer
record_format	marc
series	Springer tracts in advanced robotics
series2	Springer tracts in advanced robotics
spellingShingle	Lam, Tin Lun Xu, Yangsheng Tree climbing robot design, kinematics and motion planning Springer tracts in advanced robotics Bahnplanung (DE-588)4267628-9 gnd Baum (DE-588)4004845-7 gnd Lokalisation (DE-588)4195351-4 gnd Kletterroboter (DE-588)4571071-5 gnd
subject_GND	(DE-588)4267628-9 (DE-588)4004845-7 (DE-588)4195351-4 (DE-588)4571071-5
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	Bahnplanung (DE-588)4267628-9 gnd Baum (DE-588)4004845-7 gnd Lokalisation (DE-588)4195351-4 gnd Kletterroboter (DE-588)4571071-5 gnd
topic_facet	Bahnplanung Baum Lokalisation Kletterroboter
url	http://d-nb.info/1019143207/04 http://deposit.dnb.de/cgi-bin/dokserv?id=3966094&prov=M&dok_var=1&dok_ext=htm 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
volume_link	(DE-604)BV016421724
work_keys_str_mv	AT lamtinlun treeclimbingrobotdesignkinematicsandmotionplanning AT xuyangsheng treeclimbingrobotdesignkinematicsandmotionplanning

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