Title :
Control of climbing robot for rough surfaces
Author_Institution :
Dept. of Autom., Moscow State Ind. Univ., Russia
Abstract :
The paper describes control peculiarities of the climbing robot that has a possibility to move across rough surfaces at any angle. A combination of the robot control algorithms and design parameters allows adapting to unevenness of motion surface. Control system ensures a sealing mode of pedipulator motion. Technical parameters of the robot and experimental results are presented.
Keywords :
motion control; robots; climbing robot control; design parameters; pedipulator motion; rough surfaces; sealing mode; Automatic control; Climbing robots; Control systems; Grippers; Motion control; Pistons; Pneumatic actuators; Robot control; Rough surfaces; Surface roughness;
Conference_Titel :
Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on
Print_ISBN :
83-7143-429-4
DOI :
10.1109/ROMOCO.2002.1177092
