Pressure control of a wheeled wall climbing robot using proporsional controller

Abstract

The increased interest in the development of wall climbing robot has been shown in the past decade. Wall climbing robot with the ability to maneuver on vertical surfaces capable of performing dangerous operations such as multi-storey building inspection, surveillance, reconnaissance, assist in firefighting and rescue. By using this wall climbing robot costs become cheaper and less risky. Design wall climbing robots are wheeled robot. This robot is configured with two motors for the wheels, a suction motors, batteries, control movement, and sensors. To create a robot attached to the wall, the robot is equipped with suction. The main sensors used are pressure sensors, to monitor the level of pressure in the vacuum space. Sensors connected to arduino mega generate control inputs for suction motors. The controller used is proportional controller. Proportional controller is used to keep the pressure on the robot to remain constant at surface conditions that vary according to a certain set point.