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	Structure and control system design of a wall climbing robot for oilcan testing
	Tian Lan-Tu ; Yang Xiang-Dong ; Zhao Jian-Dong ; Lai Qing-Wen ; Chen Ken
	2010-05-10 ; 2010-05-10
关键词	Practical Theoretical or Mathematical Experimental/ attitude control cans control system synthesis intelligent robots mobile robots nondestructive testing path planning/ control system design intelligent wall climbing robot system oilcan testing path planning method antiupset device permanent magnetic tracks noncontact NDT nondestructive testing technology sensors attitude control/ C3310E Control applications in mining, oil and natural gas technology C3390C Mobile robots C1310 Control system analysis and synthesis methods C3120C Spatial variables control E3020 Mining, oil drilling and natural gas industries E1550A Robotics E1630 Testing
中文摘要	The testing technology and the system of intelligent wall climbing robot are studied in this paper. A path planning method for motion on vertical walls is presented, the function of the anti-upset device is analyzed, and the structure and control system is designed. Its main body is a wall climbing robot using permanent magnetic tracks. A non-contact NDT (non-destructive testing) technology and various sensors are applied to this robot, which give it high intelligence. Field experiments indicate that the equipment is in a highly automatic level. It can move stably, has a high localization precision, and greatly improves the efficiency of oilcan testing.
语种	中文 ; 中文
出版者	Chinese Assoc. of Automation ; China
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/24675]
专题	清华大学
推荐引用方式 GB/T 7714	Tian Lan-Tu,Yang Xiang-Dong,Zhao Jian-Dong,et al. Structure and control system design of a wall climbing robot for oilcan testing[J],2010, 2010.
APA	Tian Lan-Tu,Yang Xiang-Dong,Zhao Jian-Dong,Lai Qing-Wen,&Chen Ken.(2010).Structure and control system design of a wall climbing robot for oilcan testing..
MLA	Tian Lan-Tu,et al."Structure and control system design of a wall climbing robot for oilcan testing".(2010).

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