Thermodynamical modelling and control of an adhesion system for a climbing robot

被引：0

作者：

Wettacht, J ^{[1
]}

Hillenbrandt, C ^{[1
]}

Berns, K ^{[1
]}

机构：

[1] Univ Kaiserslautern, D-67663 Kaiserslautern, Germany

来源：

2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 | 2005年

关键词：

climbing robot; modelling of adhesion system; simulation; control;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper describes the thermodynamical model of a vacuum system for a climbing robot. Based on this model a simulation system is described, which is used to evaluate the influence of leakage situations on the adhesion system and to test control approaches. As a validation of the simulation parameters and the adhesion strategy a test platform was constructed and tested on concrete walls.

引用

页码：2727 / 2732

页数：6