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两足步行爬壁机器人控制系统的研究 被引量:4

Investigation Into controlling system of Legged Wall Climbing Robot with Two Legs
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摘要 本文提出了一种新型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。机器人采用真空吸盘吸附壁面,利用气动驱动,整个机器人由计算机采用模糊控制方法控制,能携带检测仪器和摄相机等设备进行各种检测。它可适应于垂直壁面和天花板等各种壁面的爬行,是对高层壁面或容器的维修和检测的良好工具。 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.
机构地区 上海交通大学
出处 《传动技术》 1998年第1期11-15,10,共6页 Drive System Technique
关键词 计算机控制 爬壁机器人 机器人 控制系统 Sucker, Computer controlling, Pneumatic system, PWM pulse signal, Fuzzy control
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参考文献1

  • 1张永杲编著..流体动力系统的计算机控制[M].北京:机械工业出版社,1992:236.

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