Design Of A Wall-climbing Robot And Research Of Path Tracking

Robots are machine automatically performing work. It can accept human command, runthe program arranged in advance, also make action according to the principle of artificialintelligence technology. The mission of the robot is to assist or replace human work, in theproduction of manufacturing, construction, or high-risk occupations it has a wide range ofapplications.The Wall-climbing robot research and development has broad prospects, good socialbenefit, so since1960s, Japan was the first to carrry out the research, it has been developingvery rapidly, many countries in the world carry out the research in this area. And mixgyroscope in the planar robot with passive encoder applied to climbing robot navigation andpositioning technology, is the first domestic.This paper introduced the Wall-climbing robot research status in China and foreigncountry first of all, clarify the purpose, significance of this topic research, analyzed thecharacteristics of Wall-climbing robot, properties, applications and key technologies, foundthe commonality and technical difficulties to be solved, put forward the adsorption methodthat magnetic adsorption combines with thrust adsorption. Robot main body is made up ofmain body stents, flush sections, cleaning device, walking part. Walking part is consisted ofdifferential gear train and Omni-directional wheel system structure.On the basis of the main body structure of the robot, a set of control system designed isused to control the robot walking paths and the correctness of path tracking. The mainresearch object of this paper is about the Wall-climbing robot path tracking, or Wall-climbingrobot positioning and navigation, and in order to realize automatic positioning and navigationof the robot, must be based on certain hardware platforms, this control system is based on therequirement of the robot’s control, real-time requirement and is designed and debugged.On the basis of completing the robot body structure and hardware platform, do the finalwork, is also the most key part of this project, is the design, research and validated of robotpath tracking algorithm. On the basis of matrix theory, linear control theory, differential andintegral calculus, Robot path tracking algorithm is designed, and algorithm is transformed intocode that single-chip microcomputer can identify.After repeated commissioning, validated the correctness of the positioning andnavigation algorithm, Feasibility of Path tracking method, and on the basis of experiment,find some practical experience, supply rich experience for the application of the robot.