https://scholars.lib.ntu.edu.tw/handle/123456789/611576
標題: | Dynamics and control of a suction-type wall-climbing robot | 作者: | Aniroh Y. Yudha A.P. Chou H.-C. Kuo C.-H. Chernousko F.L. Gradetsky V.G. Bolotnik N. CHUNG-HSIEN KUO |
關鍵字: | MATLAB;Mobile robots;Trajectories;Adaptive Control;Adaptive control schemes;Different slopes;Dynamics and control;Inertial measurement unit;Matlab simulations;Trajectory tracking;Wall climbing robot;Robot applications | 公開日期: | 2015 | 卷: | 28 | 期: | 1 | 起(迄)頁: | 902-903 | 來源出版物: | IFAC-PapersOnLine | 摘要: | This paper presents the trajectory tracking approach for a wall-climbing robot by using adaptive control schemes. The most important consideration for controlling the wall-climbing robot is to make sure that the wheels can be always well contacted to the wall regardless of the slope conditions without sacrificing robot's mobility. To consider different slope conditions of the wall, this paper proposes adaptive control schemes to alter the vacuum force so that different gravity effects can be properly dealt with. Practically, pressure and IMU sensors are used to provide the vacuum force and spatial posture information for realizing adaptive control schemes. Finally, MATLAB simulations and real tests for dealing with different surface slope conditions were performed with the triangle trajectories. ? 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-84954131133&doi=10.1016%2fj.ifacol.2015.05.187&partnerID=40&md5=ed19f01cfff3739eed3ed8695a89fa67 https://scholars.lib.ntu.edu.tw/handle/123456789/611576 |
DOI: | 10.1016/j.ifacol.2015.05.187 |
顯示於: | 機械工程學系 |
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