access icon openaccess Gravity and inertial load adaptive control of wall-climbing robot

The five-degree-of-freedom double-legged wall-climbing robot is the most straightforward structure with the promising application because the minimum degree-of-freedom of the foot-type climbing robot with continuous movement and obstacle-overcoming capability on the vertical wall is five. Based on the prototype of the wall-climbing robot, the parameter table of the Denavit-Hartenberg (DH) model is given out, and then the positive and inverse solutions of kinematics analysis of wall-climbing robot are derived. Secondly, the system dynamics model is established based on the Lagrange equation, and the weights of inertial load acceleration torque, Coriolis force torque, centrifugal force torque and gravity torque in the dynamic equation are analysed. The design ideas of compensation gravity load and inertial load adaptive proportional differential controller is proposed according to the analysis results, and the gravity torque compensation function and general nonlinear mass function are given correspondingly to provide theoretical support to adaptive controller design. Finally, the effectiveness of the control strategy was verified by the actual control of the knee joint and ankle joint.

Inspec keywords: collision avoidance; biomechanics; PD control; motion control; adaptive control; robot kinematics; control system synthesis; torque control; legged locomotion; robot dynamics; Coriolis force

Other keywords: knee joint; inertial load acceleration torque; nonlinear mass function; inertial load adaptive proportional differential controller; Lagrange equation; centrifugal force torque; ankle joint; DH model; obstacle-overcoming capability; vertical wall; compensation gravity load; Coriolis force torque; gravity torque compensation function; foot-type climbing robot; five-degree-of-freedom double-legged wall-climbing robot; inertial load adaptive control; parameter table; kinematics analysis; continuous movement

Subjects: Self-adjusting control systems; Control system analysis and synthesis methods; Mechanical variables control; Spatial variables control; Robot and manipulator mechanics; Mobile robots

http://iet.metastore.ingenta.com/content/journals/10.1049/joe.2018.9035
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content/journals/10.1049/joe.2018.9035
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