Dynamic Modeling And Control Of A Wire-moving Robot

Wire-walking embodies the talent of human on self-balance control. To clarify the movement law while human is walking on a tightrope and explore new research platform. Scientists try to keep a robot stability on a tightrope in the mechanical structure and control method.Firstly, balance control algorithms on the existing dynamic model of the wire-moving robot are studied, and four controllers are designed. A sliding mode controller based on exponential reaching law and center manifold theory is designed. A sliding mode controller based on constant reaching law and Hur-witz stability. A controller based on cascade sliding mode is designed. And a fuzzy controller based on T-S fuzzy and PDC is designed. MATLAB/Simulink simulations are done to verify the validity of each controller. Secondly, new balancing mechanism is proposed to optimize the control mode and mecha-nism volume of the old robot. New dynamic model of the wire-moving robot is built based on the Lagrange method. A T-S fuzzy controller is designed and MATLAB/Simulink is done. At last, the mechanical processing and device type selections are finished. And the physical prototype is built which lay foundation for the physical prototype experiment.Wire-moving robot is a kind of typical time-varying, nonlinear, and strong coupling systems. Its dynamic-stability and static-instability characteristics have high research value. The research and development on it can bring new chal-lenges and opportunities to the field of control science and Robotics. This paper starts from the existing research, and then presents new structure and new con-trol method. The research results enrich the connotation of the wire-moving robot field.