A trajectory tracking control of a mobile robot for vertical walls

Yoshio Katsuki, Motoji Yamamoto, Takeshi Ikeda

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2010 World Automation Congress, WAC 2010
出版ステータス出版済み - 12 1 2010
イベント2010 World Automation Congress, WAC 2010 - Kobe, 日本
継続期間: 9 19 20109 23 2010

出版物シリーズ

名前2010 World Automation Congress, WAC 2010

その他

その他2010 World Automation Congress, WAC 2010
国/地域日本
CityKobe
Period9/19/109/23/10

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学

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