严世榕, S. K. Tso, 闻邦椿. 爬墙式机器人安全系统的动力学变结构控制研究[J]. 机器人, 2002, 24(2): 122-125..
YAN Shi-rong, S.K. Tso, WEN Bang-chun . STUDY OF VARIABLE STRUCTURE CONTROL TECHNOLOGY OF SAFETY SYSTEM DYNAMICS OF A CLIMBING ROBOT. ROBOT, 2002, 24(2): 122-125..
Abstract：Attachment of a safety system to a wall-climbing robot is very important to guarantee safety and reliable work of the robot. Because the safety system is a wire suspension system made of a roof vehicle which can move to and fro, a winding system installed in the vehicle, and a robot itself, sometimes the safety system will swings and vibrates longitudinally just because of slip, failure of a vacuum system, etc. How to control the swing and vibration of the system is studied in the paper. Using variable-structure control techniques, amplitudes of longitudinal vibration and swing of the suspension system can be reduced obviously. So the safety device with variable-structure control system can be used in inspecting and cleaning robots working in dangerous situations.
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