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

Abstract:

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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)

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 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

Online since:

July 2011

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Price:

$35.00

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