Posture control of AC servo wall-climbing robot

Zhi Jian Jiang; Dian Guo Xu; Guang Wei Sun; Yan Wang

Posture control of AC servo wall-climbing robot

Zhi Jian Jiang^*
, Dian Guo Xu
, Guang Wei Sun
, Yan Wang

^*Corresponding author for this work

School of Electrical Engineering and Automation, Harbin Institute of Technology

Research output: Contribution to journal › Article › peer-review

Abstract

The computer control system as well as the AC servo system was designed to accomplish the motion control and work more autonomously. This dissertation studied the posture estimation algorithm according to the analysis of kinetics equation, and thus increased the motion precision by adopting the posture sensors with high performance and applying PID control rule with dead area to the posture control of the robot. The result shows that the robot can do excellent work in cleaning walls of high buildings with the special designed system.

Original language	English
Pages (from-to)	581-584
Number of pages	4
Journal	Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology
Volume	34
Issue number	4
State	Published - Aug 2002
Externally published	Yes

Keywords

AC servo
Posture control
Wall-climbing robot

Cite this

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title = "Posture control of AC servo wall-climbing robot",

abstract = "The computer control system as well as the AC servo system was designed to accomplish the motion control and work more autonomously. This dissertation studied the posture estimation algorithm according to the analysis of kinetics equation, and thus increased the motion precision by adopting the posture sensors with high performance and applying PID control rule with dead area to the posture control of the robot. The result shows that the robot can do excellent work in cleaning walls of high buildings with the special designed system.",

keywords = "AC servo, Posture control, Wall-climbing robot",

author = "Jiang, \{Zhi Jian\} and Xu, \{Dian Guo\} and Sun, \{Guang Wei\} and Yan Wang",

year = "2002",

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T1 - Posture control of AC servo wall-climbing robot

AU - Jiang, Zhi Jian

AU - Xu, Dian Guo

AU - Sun, Guang Wei

AU - Wang, Yan

PY - 2002/8

Y1 - 2002/8

N2 - The computer control system as well as the AC servo system was designed to accomplish the motion control and work more autonomously. This dissertation studied the posture estimation algorithm according to the analysis of kinetics equation, and thus increased the motion precision by adopting the posture sensors with high performance and applying PID control rule with dead area to the posture control of the robot. The result shows that the robot can do excellent work in cleaning walls of high buildings with the special designed system.

AB - The computer control system as well as the AC servo system was designed to accomplish the motion control and work more autonomously. This dissertation studied the posture estimation algorithm according to the analysis of kinetics equation, and thus increased the motion precision by adopting the posture sensors with high performance and applying PID control rule with dead area to the posture control of the robot. The result shows that the robot can do excellent work in cleaning walls of high buildings with the special designed system.

KW - AC servo

KW - Posture control

KW - Wall-climbing robot

UR - https://www.scopus.com/pages/publications/0036707227

M3 - 文章

AN - SCOPUS:0036707227

SN - 0367-6234

VL - 34

SP - 581

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JO - Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology

JF - Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology

IS - 4

ER -

Posture control of AC servo wall-climbing robot

Abstract

Keywords

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