Advanced approaches to reduce number of actors in a magnetically-operated wheel-mover of a mobile robot

This paper considers ways to reduce the number of actors of a mobile robot (MR) based on a wheel-mover for moving on inclined and vertical ferromagnetic surfaces. Peculiarities of the magnetically-operated wheel-mover take into account at the developing mechanisms for movement control. Simulation models of the MR's wheel-mover moving on an arbitrary ferromagnetic surface with various control mechanisms are designed by the authors and proposed to be used for creating a real automatic control system for such MR's movers.