Related Experiment Video
Updated: Jul 5, 2025
07:40
Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
Published on: June 10, 2020
13.9K
Research on Trajectory-Tracking Control System of Tracked Wall-Climbing Robots.
Haoyan Zhang1, Jiaqi Wu1, Yang An1
1School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025, China.
Sensors (Basel, Switzerland)
|January 11, 2024
Summary
This study presents a fuzzy logic computed-torque control (FLCT) system for tracked wall-climbing robots. The controller effectively compensates for gravity and adsorption forces, enabling accurate trajectory tracking.
Area of Science:
- Robotics
- Control Systems
- Artificial Intelligence
Background:
- Tracked robots face challenges in wall-climbing due to complex track-wall interactions, gravity, and adsorption forces.
- Accurate trajectory control is difficult for wall-climbing robots because of nonlinear dynamics.
Purpose of the Study:
- To develop and validate a trajectory-tracking control system for tracked wall-climbing robots.
- To address the complexities of gravity and adsorption in wall-climbing robot control.
Main Methods:
- A fuzzy logic computed-torque control (FLCT) strategy was developed.
- The control system incorporates adsorption force and gravity compensation based on the robot's dynamic model.
Main Results:
- The proposed FLCT controller demonstrated fast and accurate trajectory tracking.
- The controller achieved stable performance in simulations and experiments.
- Effective compensation for gravity and adsorption forces was achieved.
Conclusions:
- The fuzzy logic computed-torque control (FLCT) method is a viable approach for precise trajectory tracking in tracked wall-climbing robots.
- The developed system successfully overcomes the challenges posed by gravity and adsorption, enhancing robot control capabilities.
