Study in Motion Control for Adsorption Type Wall-Climbing Robot with Several Legs
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.
Jinglong Bu, Pengcheng Wang, Liqun Ai, Xiaoming Sang, Yungang Li
J. Yu et al., "Study in Motion Control for Adsorption Type Wall-Climbing Robot with Several Legs", Advanced Materials Research, Vols. 287-290, pp. 2195-2198, 2011