On Adhesion Modeling and Control of a Vortex Actuator for Climbing Robots

被引：0
|
作者：
Papadimitriou, Andreas [1 ]
Andrikopoulos, Georgios [1 ]
Brusell, Angelica [1 ]
Nikolakopoulos, George [1 ]
机构：
[1] Lulea Univ Technol, Comp Sci Elect & Space Engn, Lulea, Sweden
来源：
2019 IEEE 17TH INTERNATIONAL CONFERENCE ON INDUSTRIAL INFORMATICS (INDIN) | 2019年
关键词：
Electric Ducted Fan; Vortex Actuation; Negative Pressure; Force Modeling; Adhesion Control;
D O I：
10.1109/indin41052.2019.8972244
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this article, the critical adhesion force and achievable payload of a Vortex Actuator (VA) are analyzed under 3-DOF surface rotations. A model-based control scheme is later proposed, with the goal of maintaining VA adhesion when immobilized, while limiting the power consumption and counteracting disturbances leading to Center-of-Mass (CoM) variations. Finally, the model-based control scheme is experimentally evaluated with the VA prototype on a flat surface under linear motions and rotations, thus supporting the incorporation of the VA in Climbing Robots (CRs) for inspection and maintenance of both stationary and moving surfaces.
引用
收藏
页码：571 / 576
页数：6
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