DocumentCode
3143192
Title
Control of climbing robot for rough surfaces
Author
Rachkov, M.
Author_Institution
Dept. of Autom., Moscow State Ind. Univ., Russia
fYear
2002
fDate
9-11 Nov. 2002
Firstpage
101
Lastpage
105
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on
Print_ISBN
83-7143-429-4
Type
conf
DOI
10.1109/ROMOCO.2002.1177092
Filename
1177092
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