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Development and Tracking Control of a Multi-Link Climbing Robot with High Payload Capacity and Various Transition Abilities

높은 유효하중 능력과 다양한 벽면전환 능력을 가진 다관절 등반로봇의 개발 및 추종제어

  • Oh, Jongkyun (School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Lee, Giuk (School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Kim, Jongwon (School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Seo, TaeWon (School of Mechanical Engineering, Yeungnam University)
  • 오종균 (서울대학교 기계항공공학부) ;
  • 이기욱 (서울대학교 기계항공공학부) ;
  • 김종원 (서울대학교 기계항공공학부) ;
  • 서태원 (영남대학교 기계공학부)
  • Received : 2013.04.12
  • Accepted : 2013.09.02
  • Published : 2013.10.01

Abstract

Payload capacity and transition ability are essential for climbing robots to apply the robots to various applications such as inspection and exploration. This paper presents a new climbing robotic platform with multi-link structure of track-wheel modules to enhance payload capacity and transition ability, and its tracking controller design and experimental results. The compliances between track-wheel modules achieve stable internal and external transitions while the large adhesion area of the track-wheel module enhances the payload capacity of the robot. Kinematic model-based tracking controller is designed and implemented for autonomous internal transition, and the gains of the controller are optimized by experimental design. Experiments on the automatic internal transitions are performed and the results guarantee autonomous internal transition with little tracking error.

Acknowledgement

Supported by : 한국연구재단

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