Abstract
Omnidirectional mobile wall-climbing robots have better motion performance than traditional wall-climbing robots. However, there are still challenges in designing and controlling omnidirectional mobile wall-climbing robots, which can attach to non-ferromagnetic surfaces. In this paper, we design a novel wall-climbing robot, establish the robot’s dynamics model, and propose a nonlinear model predictive control (NMPC)-based trajectory tracking control algorithm. Compared against state-of-the-art, the contribution is threefold: First, the combination of three-wheeled omnidirectional locomotion and non-contact negative pressure air chamber adhesion achieves omnidirectional locomotion on non-ferromagnetic vertical surfaces. Second, the critical slip state has been employed as an acceleration constraint condition, which could improve the maximum linear acceleration and the angular acceleration by 164.71% and 22.07% on average, respectively. Last, an NMPC-based trajectory tracking control algorithm is proposed. According to the simulation experiment results, the tracking accuracy is higher than the traditional PID controller.
Highlights
The wall-climbing robot mainly consists of two modules: the locomotion module and the adhesion module
According to the literature [14,15], there are few wall-climbing robotic systems attached to non-ferromagnetic walls with omnidirectional locomotion
Compared against differential wall-climbing robotic systems, omnidirectional locomotion has better motion flexibility, including omnidirectional moving with any orientation, changing orientation arbitrarily during motion, and adapting to small spaces
Summary
The wall-climbing robot mainly consists of two modules: the locomotion module and the adhesion module. We focus on the design and control of a novel three-wheeled omnidirectional mobile wall-climbing robot with non-contact negative pressure air chamber adhesion. Besides the omnidirectional wheeled design, steerable wheels are available for approximate omnidirectional locomotion [19] This robot can attach to non-ferromagnetic wall surfaces, its motion control is more complicated. There is no design of a three-wheeled omnidirectional mobile wall-climbing robot with the non-contact negative pressure air chamber adhesion at present. Xie et al designed energy-optimal motion trajectory tracking algorithms for Mecanum-wheeled omnidirectional mobile robots [31]. This paper focuses on designing and controlling an omnidirectional wall-climbing robot, where a negative-pressure air chamber is employed for adhesion. A critical slip state is proposed and used as a dynamic constraint for motion control
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