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| Content Provider | IET Digital Library |
|---|---|
| Author | Dong, Shuang |
| Abstract | 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. |
| Starting Page | 442 |
| Ending Page | 446 |
| Page Count | 5 |
| Volume Number | 2019 |
| e-ISSN | 20513305 |
| Issue Number | Issue 13, Jan (2019) |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/joe/2019/13 |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/10.1049/joe.2018.9035 |
| Journal | The Journal of Engineering |
| Publisher | The Institution of Engineering and Technology |
| Publisher Date | 2018-11-12 |
| Access Restriction | Open |
| Rights License | Creative Commons Attribution-Non Commercial-No Derivs License (http://creativecommons.org/licenses/by-nc-nd/3.0/) |
| Subject Keyword | Adaptive Control Ankle Joint Biomechanics Centrifugal Force Torque Collision Avoidance Compensation Gravity Load Continuous Movement Control System Analysis Control System Synthesis Coriolis Force Coriolis Force Torque DH Model Five-degree-of-freedom Double-legged Wall-climbing Robot Foot-type Climbing Robot Gravity Torque Compensation Function Inertial Load Acceleration Torque Inertial Load Adaptive Control Inertial Load Adaptive Proportional Differential Controller Kinematics Analysis Knee Joint Lagrange Equation Legged Locomotion Mechanical Variables Control Mobile Robots Motion Control Nonlinear Mass Function Obstacle-overcoming Capability Parameter Table PD Control Robot And Manipulator Mechanics Robot Dynamics Robot Kinematics Self Adjusting Control System Spatial Variables Control Synthesis Method Torque Control Vertical Wall |
| Content Type | Text |
| Resource Type | Article |
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