吊篮式机器人系统的垂直运动

2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2013-12-02 DOI:10.1109/URAI.2013.6677349

Dong Yeop Kim, Jongsu Yoon, Tae-Keun Kim, Bong-Seok Kim, Chang-Woo Park

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引用次数: 0

摘要

研究了一种用于建筑立面维护的自动吊篮式机器人系统。我们的系统在墙壁上沿垂直方向移动，有两个无限的缠绕器沿着钢丝绳。因为它的主要功能是涂漆，所以要保持吊篮系统的平衡。根据ARS(姿态参考系统)控制两台无止回卷线机。该算法可以不断更新绕组的输入频率值。在实验中，当算法执行时，吊篮系统的平衡足以在墙上作画。

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Vertical movement for gondola-typed robot system

We have researched an automated gondola-typed robot system for building façade maintenance. Our system moves in vertical direction on walls with two endless winders along wire ropes. Because its main function is to paint, the balance of the gondola system should be kept. Two endless winders are controlled in accordance with ARS (Attitude Reference System). With proposed algorithm, input frequency values of winders are continuously updated. In experiment, balance of the gondola system was enough to paint on wall while proposed algorithm was executed.

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2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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