Title :
Thermodynamical Modelling and Control of an Adhesion System for a Climbing Robot
Author :
Wettach, Jens ; Hillenbrand, Carsten ; Berns, Karsten
Author_Institution :
AG Robotersysteme, Fachbereich Informatik University of Kaiserslautern Gottlieb-Daimler-Strasse, 67663 Kaiserslautern, Germany; wettach@informatik.uni-kl.de
Abstract :
This paper describes the thermodynamical model of a vacuum system for a climbing robot. Based on this model a simulation system is described, which is used to evaluate the influence of leakage situations on the adhesion system and to test control approaches. As a validation of the simulation parameters and the adhesion strategy a test platform was constructed and tested on concrete walls.
Keywords :
Climbing Robot; Control; Modelling of adhesion system; Simulation; Adhesives; Climbing robots; Concrete; Elementary particle vacuum; Engines; Inspection; Mobile robots; Pressure control; Testing; Vacuum systems; Climbing Robot; Control; Modelling of adhesion system; Simulation;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570526
