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对一般的爬墙式机器人增设一套安全系统是非常重要的。本文的安全系统是由位于屋顶的可前后移动的小车、安装于小车上的一套提升设备和机器人本体组成。由于机器人打滑、吸盘系统失效等原因 ,这种安全系统有时可能会发生摆动与纵向振动。借助于控制技术 ,本文研究的安全系统动力学的变结构控制技术可以使系统的摆动与纵向振动快速消失。显然 ,具有这种控制技术的安全系统可以用于工作于危险状态的检查与清洁机器人中
It is very important to add a safety system to the general climbing robot. The safety system in this paper consists of a front-to-back moving trolley on the roof, a set of lifting equipment and a robot body mounted on the trolley. Due to slipping robots, failure of the suction cup system and other reasons, such safety systems may sometimes oscillate and vibrate longitudinally. With the help of control technology, the variable structure control technology of safety system dynamics studied in this paper can make the system’s vibration and longitudinal vibration disappear rapidly. Obviously, a safety system with this control technique can be used in inspection and cleaning robots that are in a state of danger