Abstract

We consider the control system of an adaptive wall-climbing robot. The robot adheres to the surface aerodynamically using a centrifugal-type pump. A mathematical model of the robot is constructed and its equilibrium conditions on an arbitrarily oriented plane are investigated. In order to optimize the energy consumption, an algorithm of the adaptive control of an aerodynamic pump is proposed. The results are tested experimentally.

中文翻译：

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气动粘力爬壁机器人的控制系统

摘要

我们考虑一种自适应爬壁机器人的控制系统。机器人使用离心泵将其气动地粘附在表面上。建立了机器人的数学模型，并研究了其在任意定向平面上的平衡条件。为了优化能耗，提出了一种气动泵自适应控制算法。结果通过实验进行测试。