Abstract
Wall-climbing robots can be used for various dangerous works such as painting, inspecting and cleaning of vertical walls instead of human workers. The typical wall-climbing robots use a magnet or a vacuum suction device for travelling on the vertical wall. For a reliable and an efficient work, the robots should follow a desired path accurately. However, gravitational effect makes lower the performance of the trajectory control for the case of travelling on the vertical wall. In this paper, a trajectory tracking control law for a skid steer type wall-climbing robot is proposed considering the gravitational effect. The control law is a non-linear feedback one with compensation of gravity and wheels' rolling resistance. It is shown that a tracking error converges to zero using Lyapunov method. A window cleaning robot is used for an experiment of the trajectory tracking control. The experimental results confirm the validity of the proposed control method.
| Original language | English |
|---|---|
| Pages (from-to) | 3051-3057 |
| Number of pages | 7 |
| Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 76 |
| Issue number | 771 |
| DOIs | |
| Publication status | Published - Nov 2010 |
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All Science Journal Classification (ASJC) codes
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering
Cite this
A trajectory tracking control of a skid steer type mobile robot for vertical walls. / Katsuki, Yoshio; Ikeda, Takeshi; Yamamoto, Motoji.
In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 76, No. 771, 11.2010, p. 3051-3057.Research output: Contribution to journal › Article
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TY - JOUR
T1 - A trajectory tracking control of a skid steer type mobile robot for vertical walls
AU - Katsuki, Yoshio
AU - Ikeda, Takeshi
AU - Yamamoto, Motoji
PY - 2010/11
Y1 - 2010/11
N2 - Wall-climbing robots can be used for various dangerous works such as painting, inspecting and cleaning of vertical walls instead of human workers. The typical wall-climbing robots use a magnet or a vacuum suction device for travelling on the vertical wall. For a reliable and an efficient work, the robots should follow a desired path accurately. However, gravitational effect makes lower the performance of the trajectory control for the case of travelling on the vertical wall. In this paper, a trajectory tracking control law for a skid steer type wall-climbing robot is proposed considering the gravitational effect. The control law is a non-linear feedback one with compensation of gravity and wheels' rolling resistance. It is shown that a tracking error converges to zero using Lyapunov method. A window cleaning robot is used for an experiment of the trajectory tracking control. The experimental results confirm the validity of the proposed control method.
AB - Wall-climbing robots can be used for various dangerous works such as painting, inspecting and cleaning of vertical walls instead of human workers. The typical wall-climbing robots use a magnet or a vacuum suction device for travelling on the vertical wall. For a reliable and an efficient work, the robots should follow a desired path accurately. However, gravitational effect makes lower the performance of the trajectory control for the case of travelling on the vertical wall. In this paper, a trajectory tracking control law for a skid steer type wall-climbing robot is proposed considering the gravitational effect. The control law is a non-linear feedback one with compensation of gravity and wheels' rolling resistance. It is shown that a tracking error converges to zero using Lyapunov method. A window cleaning robot is used for an experiment of the trajectory tracking control. The experimental results confirm the validity of the proposed control method.
UR - http://www.scopus.com/inward/record.url?scp=79751520616&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79751520616&partnerID=8YFLogxK
U2 - 10.1299/kikaic.76.3051
DO - 10.1299/kikaic.76.3051
M3 - Article
AN - SCOPUS:79751520616
VL - 76
SP - 3051
EP - 3057
JO - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 771
ER -