基于计算机控制技术的爬壁机器人运动控制和应用研究

Research on motion control and application of wall climbing robot based on computer control technology

爬壁机器人能在较为复杂危险的作业环境下代替人工进行工作,但其运动控制与避障能力要求较高。为了提升爬壁机器人的轨迹控制与避障能力,研究基于自适应滑模控制构建轨迹跟踪控制系统,并利用自适应模糊控制法提升其自主避障能力。仿真实验结果表明,自适应滑模控制下的爬壁机器人响应时间为2s,低于一般模糊控制法的16s,快速响应能力较优,且驱动力矩波动较小,具有较强的稳定性和可靠性,能有效提升爬壁机器人的轨迹控制精准度。自适应模糊控制下的机器人能有效进行障碍物规避,且运动轨迹平滑快速,自主避障效果较好,对提升爬壁机器人的作业能力具有重要的实用价值,为爬壁机器人的智能化与自动化领域提供了新的研究思路。

Wall climbing robot can replace manual work in complex and dangerous working environment,but its motion control and obstacle avoidance ability are required.In order to improve the trajectory control and obstacle avoidance ability of wall climbing robot,a trajectory tracking control system based on adaptive sliding mode control is studied,and the adaptive fuzzy control method is used to improve its autonomous obstacle avoidance ability.The simulation results show that the response time of the wall climbing robot under adaptive sliding mode control is 2S,which is lower than 16S of the general fuzzy control method.It has excellent fast response ability,small fluctuation of driving torque,strong stability and reliability,and can effectively improve the trajectory control accuracy of the wall climbing robot.The robot under adaptive fuzzy control can effectively avoid obstacles,and its motion trajectory is smooth and fast,and the effect of autonomous obstacle avoidance is good.It has important practical value for improving the operation ability of wall climbing robot,and provides a new research idea for the field of intelligence and automation of wall climbing robot.