毫米级多微型机器人协调策略的研究

应用科学学报 ›› 2004, Vol. 22 ›› Issue (2): 195-199.

毫米级多微型机器人协调策略的研究

李振波¹, 陈佳品¹, 章亚男², 苏剑波³, 孙麟治², 龚振邦²

1 上海交通大学微纳米科学技术研究院上海 200030;
2 上海大学机电工程与自动化学院上海 200072;
3 上海交通大学自动化系上海 200030

收稿日期:2003-01-21 修回日期:2003-04-14 出版日期:2004-06-30 发布日期:2004-06-30
作者简介:李振波(1974-),男,吉林蛟河市人,副教授,博士.
基金资助:
国家自然科学基金重点资助项目(69889501)

Research on the Cooperation Strategy for the Multiple Microrobots Inspection System Between Pipes

LI Zhen-bo¹, CHEN Jia-pin¹, ZHANG Ya-nan², SU Jian-bo³, SUN Lin-zhi², GONG Zhen-bang²

1. Research Institute of Micro-Nanometer Science Technology, Shanghai Jiaotong University, Shanghai 200030, China;
2. School of Mechanical Engineering and Automation, Shanghai University, Shanghai 200072, China;
3. Department of Automation, Shanghai Jiaotong University, Shanghai 200030, China

Received:2003-01-21 Revised:2003-04-14 Online:2004-06-30 Published:2004-06-30

摘要/Abstract

摘要： 针对电磁型微电机的毫米级微型机器人自身的特点,根据核工业管道检测的特殊需求,利用视觉传感器获得的位置信息,为实现多微机器人系统任务而设计了多微型机器人的协调策略,通过系统实验并进行了具体的论证.

关键词: 微型机器人, 协调控制, 微型机器人系统

Abstract: In this paper, a cooperation strategy was designed for a multiple microrobots system, in order to realize the system task through the cooperation among the robots, according to the specially equirement of the microrobots inspection system. The results were demonstrated through experiments.

Key words: microrobot, cooperation control, microrobots system

中图分类号:

TP242.3

李振波, 陈佳品, 章亚男, 苏剑波, 孙麟治, 龚振邦. 毫米级多微型机器人协调策略的研究[J]. 应用科学学报, 2004, 22(2): 195-199.

LI Zhen-bo, CHEN Jia-pin, ZHANG Ya-nan, SU Jian-bo, SUN Lin-zhi, GONG Zhen-bang. Research on the Cooperation Strategy for the Multiple Microrobots Inspection System Between Pipes[J]. Journal of Applied Sciences, 2004, 22(2): 195-199.