A trajectory tracking control of a skid steer type mobile robot for vertical walls

Yoshio Katsuki, Takeshi Ikeda, Motoji Yamamoto

研究成果: ジャーナルへの寄稿記事

抄録

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.

元の言語英語
ページ(範囲)3051-3057
ページ数7
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
76
発行部数771
DOI
出版物ステータス出版済み - 11 2010

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Mobile robots
Trajectories
Robots
Gravitational effects
Cleaning
Rolling resistance
Lyapunov methods
Painting
Magnets
Wheels
Gravitation
Vacuum
Feedback
Experiments

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

これを引用

A trajectory tracking control of a skid steer type mobile robot for vertical walls. / Katsuki, Yoshio; Ikeda, Takeshi; Yamamoto, Motoji.

:: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 巻 76, 番号 771, 11.2010, p. 3051-3057.

研究成果: ジャーナルへの寄稿記事

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