Development and tracking control of a multi-link climbing robot with high payload capacity and various transition abilities

Title
Development and tracking control of a multi-link climbing robot with high payload capacity and various transition abilities
Author(s)
서태원오종균[오종균]이기욱[이기욱]김종원[김종원]
Keywords
Climbing robots; Multi-link; Payload; Tracking controls; Transition; Navigation; Robots; Wheels; Aerodynamic loads
Issue Date
201310
Citation
Journal of Institute of Control, Robotics and Systems, v.19, no.10, pp.915 - 920
Abstract
Payload capacity and transition ability are essential for climbing robots to apply the robots to various applications such as inspection and exploration. This paper presents a new climbing robotic platform with multi-link structure of track-wheel modules to enhance payload capacity and transition ability, and its tracking controller design and experimental results. The compliances between track-wheel modules achieve stable internal and external transitions while the large adhesion area of the track-wheel module enhances the payload capacity of the robot. Kinematic model-based tracking controller is designed and implemented for autonomous internal transition, and the gains of the controller are optimized by experimental design. Experiments on the automatic internal transitions are performed and the results guarantee autonomous internal transition with little tracking error. ? ICROS 2013.
URI
http://hdl.handle.net/YU.REPOSITORY/28768http://dx.doi.org/10.5302/J.ICROS.2013.13.8010
ISSN
1976-5622
Appears in Collections:
공과대학 > 기계공학부 > Articles
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