| 两足步行爬壁机器人控制系统的研究 |
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| 引用本文： | 黄维纲. 两足步行爬壁机器人控制系统的研究[J]. 传动技术(上海), 1998, 12(1): 11-15,10 |
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| 作者姓名： | 黄维纲 |
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| 作者单位： | 上海交通大学 |
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| 摘 要： | 本文提出了一种新的具有七个自由度的两足爬壁机器人，该爬壁机器人具有重量轻，控制精度高，速度快等特点。
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| 关 键 词： | 计算机控制 爬壁机器人 机器人 控制系统 |
Investigation Into controlling system of Legged Wall Climbing Robot with Two Legs |
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| Shanghai Jiao Tong University Huang Weigang Wang Xianzheng. Investigation Into controlling system of Legged Wall Climbing Robot with Two Legs[J]. Drive System Technique, 1998, 12(1): 11-15,10 |
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| Authors: | Shanghai Jiao Tong University Huang Weigang Wang Xianzheng |
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| Affiliation: | Shanghai Jiao Tong University Huang Weigang Wang Xianzheng |
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| Abstract: | This paper provides a new type of legged wall climbing robot with two legs and seven degrees of freedom. This robot has adventages of light weight, high control precision and high velocity. Driven by pneumatics, equipped with sucker to suck the wall, controlled by computer using fuzzy control method, the robot can take checking equipment or camera along to carry on various checkings. It is able to walk on different surface, such as vertical wall and ceiling. It is a suitable tool for maintaining and checking the surface of skyscraper or huge container. |
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| Keywords: | Sucker Computer controlling Pneumatic system PWM pulse signal Fuzzy control |
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