Localization technique of pipeline robot based on the method of acceleration<br />
Journal Title: Science Paper Online - Year 2008, Vol 3, Issue 8
Abstract
In accordance with the limitation of existing localization methods for pipeline robot used widely, a localization method by dint of acceleration is put forward with slight influence by the environment. Theoretical principles were introduced and the formula of localization (the plane tube and the declining tube) was brought forward. The analysis of the localization precision indicated that the error increased with the square of time. And the combination of the acceleration method with the photo-electrical coded compass was adopted to reduce the error, thus an improved structure flowchart for application was obtained. According to the influence of vibration noise produced by the robot’s movement, the installation position of the accelerometer was ascertained. Key words: robot；localization methods；acceleration；localization error
Authors and Affiliations
Li WANG, Zhuxin LI, Yi SHU, Jin SHI
Keywords
Related Articles
- EP ID EP107617
- DOI -
- Views 119
- Downloads 0
碳化硼微粉中微量硅的测定研究
本文依照硅钼蓝法原理，以抗坏血酸为还原酸，柠檬酸调节酸度还原硅钼黄，探讨碳化硼微粉中微量硅含量的测定方法，考察研究操作中各步骤的最佳工艺及其对硅含量分析精确度的影响。结果表明：本方法分析精度高且重现性好，适合于碳化硼微粉...
A new modeling method for magnetic levitation system
This paper proposes a new modeling method for magnetic levitation system to minimize the discrepancy between established model and reality. The method adopts coil parameter identification and balanced current/position me...
多功能臂大环多胺La(III)配合物的合成、表征及<br /> 催化磷酸二酯BNPP和质粒DNA水解的研究<br />
合成了新型的多功能臂大环多胺La(III)配合物。通过分光光度滴定法，研究了大环多胺La(III)配合物催化磷酸二酯BNPP的水解反应，结果表明，大环多胺配合物可以有效地催化磷酸二酯BNPP水解，水解速率提高5.94×104倍，动力学研究还揭示了配体...
Optimizing the fabrication of abrasion-resistant and<br /> transparent organosilicon coating<br /> <br />
A double group abrasion-resistant organosilicon coating is designed and prepared, which can be used to enhance the surface scratch-resistance of PMMA. Group A contains the major component of tetraethoxy silane (TEOS) an...
一种方形及矩形同轴线截止波长的实用计算公式
采用有限元数值算法计算出多种横截面尺寸下方形及矩形同轴线的截止波长，对所求数据分析表明，方形及矩形同轴线截止波长与其横截面周长存在一定线性比例关系，再通过Matlab数据拟合，求出比例系数，最终得到截止波长的近似计算公式。经检...