Gravity and inertial load adaptive control of wall-climbing robot

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 t...

Full beskrivning

Bibliografiska uppgifter
Huvudupphovsman: Shuang Dong
Materialtyp: Artikel
Språk:English
Publicerad: Wiley 2018-12-01
Serie:The Journal of Engineering
Ämnen:
collision avoidance
adaptive control
biomechanics
robot dynamics
PD control
robot kinematics
control system synthesis
legged locomotion
Coriolis force
motion control
torque control
inertial load adaptive control
five-degree-of-freedom double-legged wall-climbing robot
foot-type climbing robot
vertical wall
inertial load acceleration torque
compensation gravity load
inertial load adaptive proportional differential controller
gravity torque compensation function
continuous movement
obstacle-overcoming capability
parameter table
DH model
kinematics analysis
Lagrange equation
Coriolis force torque
centrifugal force torque
nonlinear mass function
knee joint
ankle joint
Länkar:https://digital-library.theiet.org/content/journals/10.1049/joe.2018.9035

Internet

https://digital-library.theiet.org/content/journals/10.1049/joe.2018.9035

Liknande verk