A trajectory tracking control of a mobile robot for vertical walls

Yoshio Katsuki, Motoji Yamamoto, Takeshi Ikeda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Wall-climbing robots can be used for some tasks such as painting, inspecting and cleaning of various walls. The typical wall-climbing robots use a magnet or a vacuum suction device for attracting with the wall. For a reliable task, the robots should follow a desired path accurately. However, the trajectory tracking on the vertical wall is not easy because of gravitational and attraction force. In this paper, a trajectory tracking control for a skid steer type wall-climbing robot is proposed. The control law is a non-linear feedback one with a compensation of gravity and attraction force. A window cleaning robot is used for an experiment of the trajectory tracking control. The experimental result confirms the validity of the proposed method.

Original languageEnglish
Title of host publication2010 World Automation Congress, WAC 2010
Publication statusPublished - Dec 1 2010
Event2010 World Automation Congress, WAC 2010 - Kobe, Japan
Duration: Sep 19 2010Sep 23 2010

Publication series

Name2010 World Automation Congress, WAC 2010

Other

Other2010 World Automation Congress, WAC 2010
CountryJapan
CityKobe
Period9/19/109/23/10

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

Katsuki, Y., Yamamoto, M., & Ikeda, T. (2010). A trajectory tracking control of a mobile robot for vertical walls. In 2010 World Automation Congress, WAC 2010 [5665649] (2010 World Automation Congress, WAC 2010).