Labview Based Realization of Motion Control for Steering Engine Driven Wall-climbing Robot with CPG Neural Network
ZHANG Long1, LIU Ying1, MENG Cai2, WANG Tian-miao3
1. School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China; 2. School of Astronautics, Beihang University, Beijing 100083, China; 3. Institute of Robotics, Beihang University, Beijing 100083, China
Abstract：According to the mechanical characteristics of steering engine driven wall-climbing robot,a CPG(central pattern generator) neural network motion control method based on Labview is proposed for steering engine driven wall-climbing robot.Firstly,with the concept of bionic motion control,the CPG neural network model of motion control is constructed for steering engine driven wall-climbing robot.Then the robot’s free motion on plane is divided into a combination of linear motion and turning motion.Based on the waveform characteristics of the CPG neural network,the corresponding control signals for actual motion are generated and output.Finally,the validity of the proposed method is proved with the robot plane motion control experiment.
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