交流伺服清洗爬壁机器人的姿态控制

城市高层建筑的清洗作业目前主要由人工完成；不仅危险，而且效率低、质量难以保证。清洗爬壁机器人可对各种高层建筑进行高效和安全的清洗工作，由于作业壁面不平，表现摩擦系数不均，车轮转速不同步，搭承负载不平衡等使机器人在运行中难免偏离预定的轨迹发生倾斜，为此在机器人本体上加装了高精度角度倾斜计，微电脑把预定轨迹和倾斜计测量值相比较，当偏差发生时，利用PID控制规律，对交流伺服电机驱动的双轮进行无级调速，使机器人按预定运动轨迹准确移动，在爬壁机器人运动学方程基础上，讨论了机器人的姿态控制规律，并从交流伺服驱动，微电脑控制等方面采取措施保证爬壁机器人姿态控制的准确无误，样机运行证明这些规律和措施都是行之有效的。

Posture control of AC servo wall-climbing robot

Wall climbing robot for cleaning has great practical value for the building industry to release humans from heavy manual labor and hazadous environment. Supported by National High-tech Program (863), the project aimed to provide city construction industry with a highly efficient wall climbing robot for cleaning glass and tile walls automatically. The computer control system as well as the AC servo system was designed. To accomplish motion control and work more autonomously. The dissertation studied posture estimation algorithm according to analysis of kinetics equation, and thus increases the motion precision by adopting the posture sensors with high performance and applying PID control rule with dead area to the posture control of the robot. The result shows that the robot can do excellent work in cleaning walls of high buildings with the special designed system.