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Research on Control Technology of Wall-Climbing Robot

Author: ZhangBaoShan
Tutor: NuoWeiSiJiï¼›FuYiLi
School: Harbin Institute of Technology
Course: Mechanical and Electronic Engineering
Keywords: Climbing robot Fuzzy Control Path planning Path tracking Obstacle
CLC: TP242.2
Type: Master's thesis
Year: 2009
Downloads: 149
Quote: 0
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Abstract


Object of this paper is to wheeled climbing robot with Tuizu style combination of new wall-climbing robot that sucker in the traditional single-wheeled climbing robot, based on the design of an obstacle agency. Sport mode is on a flat wall surface by moving wheel body; when faced with obstacles, in addition to changing the moving obstacle avoidance path, you can also rely on institutional obstacle climb obstacles, continue to travel to the target location. Thus, both wheeled robot climbing robot moving fast, easy to control the advantages, but also has enough robot obstacle capability advantages. Robot through two driving wheels differential drive to achieve all-round movement. Through the establishment of a robot coordinate system, the robot kinematics equations are given to calculate the robot coordinate system and the environmental coordinate system transformation matrix between. Based on fuzzy control theory, first designed using the scale factor control path planning fuzzy controller, and gives strategies to escape the trap. And then design a path following fuzzy controller and the choice of parameters are discussed and analyzed the effect on the path tracking. Obstacle Obstacle robot body is fundamental. The first obstacle institutions for the characteristics of the institutions of the forward kinematics and inverse kinematics analysis, according to the different types of obstacle, obstacle on peristalsis, to wall transition, climb directly and indirectly climb up and down stairs and more surfaces, such as different barrier approach to the planning, and the organization's ability to carry out the analysis of the obstacle. Finally, write software for simulation experiments to verify the correctness of forward and inverse kinematics and planning method. Combined wheel obstacle institutional research department and method for controlling a robot remote control interface design and hardware-based control systems, the preparation of the master-slave control procedures, including communication protocols, sensor data collection procedures, wheel unit exercise program, joint exercise program , path planning fuzzy control procedures, path tracking fuzzy control procedures. Finally, path planning and path tracking software simulation experiments to verify the effectiveness of the designed controller, and the results were analyzed. By wheel portion control experiment, that the PC and the master controller, the master controller and the communication between the controller system effectiveness, and also verify the accuracy of the kinematics of the ring portion. Through the obstacle avoidance path planning experiment proved that the fuzzy controller allows the robot path planning effectively avoiding obstacles. By path tracking experiment proved effective robot path tracking method can track the given curve.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Industrial robots
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