DocumentCode
2939912
Title
Thermodynamical Modelling and Control of an Adhesion System for a Climbing Robot
Author
Wettach, Jens ; Hillenbrand, Carsten ; Berns, Karsten
Author_Institution
AG Robotersysteme, Fachbereich Informatik University of Kaiserslautern Gottlieb-Daimler-Strasse, 67663 Kaiserslautern, Germany; wettach@informatik.uni-kl.de
fYear
2005
fDate
18-22 April 2005
Firstpage
2727
Lastpage
2732
Abstract
This paper describes the thermodynamical model of a vacuum system for a climbing robot. Based on this model a simulation system is described, which is used to evaluate the influence of leakage situations on the adhesion system and to test control approaches. As a validation of the simulation parameters and the adhesion strategy a test platform was constructed and tested on concrete walls.
Keywords
Climbing Robot; Control; Modelling of adhesion system; Simulation; Adhesives; Climbing robots; Concrete; Elementary particle vacuum; Engines; Inspection; Mobile robots; Pressure control; Testing; Vacuum systems; Climbing Robot; Control; Modelling of adhesion system; Simulation;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570526
Filename
1570526
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