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.
引用本文: 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[J]. ROBOT, 2002, 24(2): 122-125.
Citation: YAN Shi-rong, S.K. Tso, WEN Bang-chun. STUDY OF VARIABLE STRUCTURE CONTROL TECHNOLOGY OF SAFETY SYSTEM DYNAMICS OF A CLIMBING ROBOT[J]. ROBOT, 2002, 24(2): 122-125.

爬墙式机器人安全系统的动力学变结构控制研究

STUDY OF VARIABLE STRUCTURE CONTROL TECHNOLOGY OF SAFETY SYSTEM DYNAMICS OF A CLIMBING ROBOT

  • 摘要: 对一般的爬墙式机器人增设一套安全系统是非常重要的。本文的安全系统是由位于屋顶的可前后移动的小车、安装于小车上的一套提升设备和机器人本体组成。由于机器人打滑、吸盘系统失效等原因,这种安全系统有时可能会发生摆动与纵向振动。借助于控制技术,本文研究的安全系统动力学的变结构控制技术可以使系统的摆动与纵向振动快速消失。显然,具有这种控制技术的安全系统可以用于工作于危险状态的检查与清洁机器人中.

     

    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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