摘要
介绍了自导向磁吸附爬壁机器人的控制系统。通过平面布置光纤传感器来确定机器人的可能位置和姿态。通过对调整动作进行优化,并对状态切换表进行在线学习,能够较快地完成对姿态的调整。
The control system of self-steering magnetic wall-climbing robot is introduced. The possible position and pose of robot can be determined through the plane-laid optic fiber sensors. With the adjusting action being optimized and the state switching table being online learned, the adjusting of pose can be completed relatively fast.
出处
《测控技术》
CSCD
2004年第12期43-45,共3页
Measurement & Control Technology
关键词
爬壁机器人
控制系统
磁吸附
wall-climbing robot
control system
magnetic suck
