Fuzzy gravity compensation for wall-climbing microrobots

A fuzzy control system with gravity compensation is presented to improve the performance of the wall-climbing microrobots. After introduction of the robot system, robot motion modes are described. And kinematic models and dynamic models are introduced. Then a fuzzy motion controller is designed to improve control performance and reduce power consumption by the suitable selection of fuzzy sets and inference methods, as well as the definition of corresponding membership functions and control rule bases. A fuzzy logic compensator is developed to compensate the gravitational effects according to different robot configurations and task situations. Experimental results prove the validity of the proposed methods.