Design and Control of a Cleaning Unit for a Novel Wall-Climbing Robot

被引：19

作者：

Kim, Taegyun ^{[2
]}

Kim, Jihoon ^{[2
]}

Seo, Kunchan ^{[2
]}

Kim, Hongmin ^{[2
]}

Lee, Giuk ^{[2
]}

Kim, Jongwon ^{[2
]}

Kim, Hwa Soo ^{[1
]}

机构：

[1] Kyonggi Univ, Dept Mech Syst Engn, Suwon, South Korea

[2] Seoul Natl Univ, Sch Mech & Aerosp Engn, Seoul 151, South Korea

来源：

ENGINEERING AND MANUFACTURING TECHNOLOGIES | 2014年 / 541-542卷

关键词：

Cleaning unit; Wall-climbing robot; Impedance control;

D O I：

10.4028/www.scientific.net/AMM.541-542.1092

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents the design and control of a cleaning unit installed on a novel wall-cleaning robot (ROPE RIDE: RObotic Platform Enabling Rope access In Dangerous Environment). The proposed cleaning unit is able to autonomously avoid various obstacles on the wall of a building and also performs cleaning with sufficient contact force. The prototype of a cleaning unit is systematically designed and examined to verify its impedance-controlled cleaning performance.

引用

页码：1092 / +

页数：2

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