Paper Title:
Study in Motion Control for Adsorption Type Wall-Climbing Robot with Several Legs
  Abstract

Aiming at the cleaning operation of high-rise building glass wall, a novel pneumatic wall-climbing robot was developed. According to the configuration and the characteristics analysis on the robot, the kinematics equations were derived and PWM / PFM algorithm was proposed based on PID control. The simulation results show that the motion and control for the robot has advantages of fast speed , flexible movement, strong obstacle avoidance ability and simple control features, and so on.

  Info
Periodical
Advanced Materials Research (Volumes 287-290)
Chapter
Thin Films
Edited by
Jinglong Bu, Pengcheng Wang, Liqun Ai, Xiaoming Sang, Yungang Li
Pages
2195-2198
DOI
10.4028/www.scientific.net/AMR.287-290.2195
Citation
J. Yu, M. Yu, G. Q. Huang, "Study in Motion Control for Adsorption Type Wall-Climbing Robot with Several Legs", Advanced Materials Research, Vols. 287-290, pp. 2195-2198, 2011
Online since
July 2011
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Price
$32.00
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