This article presents the design and position-tracking control of a novel two-degree-of-freedom dual-rope winch robot. It is designed to be facilely installed at both corners of a building using two synthetic ropes and to move freely on the wall plane using the ropes to perform building maintenance work. This robot consists of a dual-rope winch system responsible for its movement on a plane and a thrust module that allows the robot to remain close to the wall through the force of the propeller. In the dual-rope winch system, ascending modules driven by two pulleys and connected by differential gears are arranged symmetrically; the position and posture on the plane can be determined by controlling the ropes. The robot winds a synthetic rope around the pulley to support the load with frictional force. Precise position control is difficult to implement because of the elasticity of the rope and the slip around the pulley. Therefore, in this article, a feedforward control to predict and compensate for the slip length of the rope and a proportional–integral controller to regulate the position error owing to the dynamic characteristics of the rope are proposed. Experiments to verify the performance of the controller for various trajectories were performed on the test bench. It was confirmed that the actual trajectory deviation is within 0.5% of the target trajectory.

中文翻译：

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带滑差补偿的双绳绞车机器人位置跟踪控制


本文介绍了一种新型二自由度双绳绞车机器人的设计和位置跟踪控制。它被设计为使用两根合成绳索方便地安装在建筑物的两个角落，并使用绳索在墙面上自由移动以执行建筑物维护工作。该机器人由负责其在平面上运动的双绳绞盘系统和允许机器人通过螺旋桨的力保持靠近墙壁的推力模块组成。双绳绞车系统中，由两个滑轮驱动、差速齿轮连接的上升模块对称布置；通过控制绳索可以确定飞机上的位置和姿势。机器人将合成绳缠绕在滑轮上，通过摩擦力支撑负载。由于绳索的弹性和滑轮周围的滑移，精确的位置控制很难实现。因此，在本文中，提出了一种用于预测和补偿绳索滑移长度的前馈控制和一种用于调节由于绳索的动态特性而产生的位置误差的比例积分控制器。在测试台上进行了验证控制器在各种轨迹下的性能的实验。经确认，实际轨迹偏差在目标轨迹的0.5%以内。