The layer-crossing strategy of curved wall cleaning robot

被引：0
|
作者：
Liu, R [1 ]
Heng, J [1 ]
Zong, G [1 ]
机构：
[1] Beihang Univ, Inst Robot, Beijing, Peoples R China
来源：
Climbing and Walking Robots | 2005年
关键词：
D O I：
10.1007/3-540-29461-9_103
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, a layer-crossing control strategy applied to curved wall cleaning robot, which is a kind of self-climbing robot, is introduced. With this strategy, the robot can smoothly climb form one layer to another, which have different sloping angles with respect to horizon. Some problems, which may occur during the process of layer crossing, are analyzed. Some solutions are put forward and they are proved effective in practice.
引用
收藏
页码：1053 / 1060
页数：8
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