https://scholars.lib.ntu.edu.tw/handle/123456789/611566
標題: | Trajectory Tracking of a Wheeled Wall Climbing Robot Using PID Controller | 作者: | Kuo C.-H. Chou H.-C. Chernousko F.L. Gradetsky V.G. Bolotnik N. Aniroh Y. Setijadi E. CHUNG-HSIEN KUO |
關鍵字: | Automation;Electric control equipment;Field programmable gate arrays (FPGA);Intelligent mechatronics;Intelligent robots;Manufacture;Mobile robots;Proportional control systems;Robot applications;Robots;Tall buildings;Three term control systems;Trajectories;Walls (structural partitions);Wheels;Control inputs;Control schemes;High rise building;Motion controller;PID controllers;Research topics;Trajectory tracking;Wall climbing robot;Controllers | 公開日期: | 2016 | 起(迄)頁: | 143-146 | 來源出版物: | ICAMIMIA 2015 - International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation, Proceeding - In conjunction with Industrial Mechatronics and Automation Exhibition, IMAE | 摘要: | One of the most challenging research topics in robotics is the wall climbing robot. The wall climbing robots are able to perform dangerous operation, such as cleaning the high-rise building. This paper present Trajectory Tracking of a Wheeled Wall Climbing Robot Using PID Controller. To make sure that the wheels can be always well contacted to the wall without sacrificing robot's mobility is the most important consideration for controlling the wall-climbing robot. To evaluate the performance of the robot and the proposed controller, this paper conducted experiments of several trajectory tracking. Practically, encoder sensor provides the spatial posture information for realizing PID control schemes. The sensor is connected to a field-programmable gate array (FPGA) based onboard motion controller to generate control inputs for wheel motors and suction motor according to a specific trajectory. Finally, real tests were performed with the trajectories of circle, triangle and rectangle. The results were evaluated according to the measurement of the accuracy of trajectory. ? 2015 IEEE. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-84981187975&doi=10.1109%2fICAMIMIA.2015.7508019&partnerID=40&md5=e01b6a544ce391604308190e7440671c https://scholars.lib.ntu.edu.tw/handle/123456789/611566 |
DOI: | 10.1109/ICAMIMIA.2015.7508019 |
顯示於: | 機械工程學系 |
在 IR 系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。