Dynamic Simulator for Design and Control of a Wall-climbing Robot

摘要

This study reports the dynamic simulator for design and control of a wall climbing robot. The robot runs about on walls with two driving wheels pushing walls by a coaxial propeller thruster. In general, wall climbing robots will slip on walls because of the limited pushing forces. For this reason it is necessary that the excellent design and control of robots be carefully studied so that the problem on the slipping motion can be solved. This paper provides the derivation algorithm of motion equations of a wall climbing robot considering slip motions, and some simulation examples are shown using the dynamic simulator based on the algorithm.