Study in Motion Control for Adsorption Type Wall-Climbing Robot with Several Legs

Jin Yu; Min Yu; Guo Qin Huang

doi:10.4028/www.scientific.net/AMR.287-290.2195

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 287-290Study in Motion Control for Adsorption Type...

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.

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Periodical:

Advanced Materials Research (Volumes 287-290)

Pages:

2195-2198

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.287-290.2195

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Online since:

July 2011

Authors:

Jin Yu, Min Yu, Guo Qin Huang

Keywords:

PID Control, PWM/PFM, Robot

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References

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