CASPIAN JOURNAL
MANAGEMENT AND HIGH TECHNOLOGIES
CONTROL SYSTEM OF THE WALKING WALL CLIMBING ROBOT
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Read | Iastrebova Irina V., Vorotnikov Sergey A., Kalinichenko Sergey V. CONTROL SYSTEM OF THE WALKING WALL CLIMBING ROBOT // Caspian journal : management and high technologies. — 2019. — №3. — pp. 131-142. |
Iastrebova Irina V. - undergraduate student, Bauman Moscow State Technical University, iyast37@gmail.com
Vorotnikov Sergey A. - Cand. Sci. (Engineering), Bauman Moscow State Technical University, vorotn@bmstu.ru
Kalinichenko Sergey V. - Cand. Sci. (Engineering), Bauman Moscow State Technical University, kln-sv777@yandex.ru
The article is devoted to the development of a control system of a vertical-movement robot (Wall Climbing Robot). The kinematic scheme of Wall Climbing Robot is described and its mathematical model is presented. An algorithm for autonomous movement of Wall Climbing Robot in a partially non-deterministic environment based on the principles of fuzzy logic is proposed. A model of robot movement in the MATLAB Simulink program using the Fuzzy Logic Toolbox has been developed. A computer simulation of the robot movement on surfaces located at an angle to each other, using Petri nets algorithms, has been carried out. The results of the simulation are presented, their informative analysis is performed.
Key words: мобильный робот, обследование стен, дефектоскопия, кинематическая модель, нечеткая логика, алгоритм Мамдани, полуавтоматический режим, математическое моделирование, шагающий робот, вакуумный захват, вертикальное перемещение, mobile robot, wall flaw detect