磁吸附爬壁机器人控制系统的研究

The Study on The Control System of Wall Surface Robot With Magnetic Crawlers

在研制爬壁机器人基础上，比较了磁吸附爬壁机器人的各种吸附与驱动方式的优缺点，设计了机器人的控制系统，推导出控制算法，并实验结果表明控制系统能满足工作要求。

The paper compares the advantages and disadvantages of all kinds of attrsztive and drive methods of the wall surface robot with magnetic crawlers, designs the control system of the robot, and derives the con-trol algorithm. test shows the control system can satisfy the reguirement.