Abstract
The Climbing Robot CREA is developed to climb up flat concrete walls. Due to its big size and weight the robot uses the suction system to generate necessary adhesive force. This suction system consists of eleven chambers which are thermodynamically connected to one common reservoir. The robot also uses the wheel-based locomotion which introduces chalenging control dilema when integrating with suction system. This paper addresses these difficulties by introducing new control scheme that is able to reach a satisfactory trade-off between contradictory criteria. An exponentially stable controller is developed for each chamber that engages automatically with wall and generates desired adhesive force with lowest possible friction and influence on other chambers.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Schmidt, D., Berns, K.: Climbing robots for maintenance and inspections of vertical structures—a survey of design aspects and technologies. Rob. Auton. Syst. 61(12), 1288–1305 (2013)
Longo, D., Muscato, G.: The Alicia\(^3\) climbing robot: a three-module robot for automatic wall inspection. Rob. Autom. Mag. 13(1), 42–50 (2006)
Morris, W., Xiao, J.: City-climber: development of a novel wall-climbing robot. J. Student Res. 1, 40–45 (2008)
Schmidt, D.: Safe navigation of a wall-climbing robot-risk assessment and control methods. The doctrol thesis, University of Kaiserslautern, verlag Dr. Hut, Munich Germany (2013)
Kopietz, K., Schmidt, D., Schtz, S., Berns, K.: Friction optimization adhesion control of a wheel-driven wall-climbing robot. In: International Conference of Climbing and Walking Robots (CLAWAR) (2014)
Wettach, J., Hillenbrand, C., Berns, K.: Thermodynamical modelling and control of an adhesion system for a climbing robot. IEEE Int. Conf. Rob. Autom. (ICRA) 3, 2727–2732 (2005)
Khalil, H.: Nonlinear Systems, 2nd edn. Prentice Hall, Englewood Cliffs (1996)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Nejadfard, A., Schütz, S., Schmidt, D., Berns, K. (2016). Design of a Stable Controller for the Climbing Robot CREA. In: Filipe, J., Gusikhin, O., Madani, K., Sasiadek, J. (eds) Informatics in Control, Automation and Robotics. Lecture Notes in Electrical Engineering, vol 370. Springer, Cham. https://doi.org/10.1007/978-3-319-26453-0_10
Download citation
DOI: https://doi.org/10.1007/978-3-319-26453-0_10
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-26451-6
Online ISBN: 978-3-319-26453-0
eBook Packages: EngineeringEngineering (R0)