Structure of wall climbing robot control system

Structure of control system is presented that intended for wall climbing robot with vacuum contact devices to realize motion along vertical, slope surfaces and ceilings. The principal schemes of vacuum contact devices are adapted to the surfaces by means of force, pressure and tactile sensors as so as feedback loops. Information is transmitted from sensors to microprocessors of control system. Suggested algorithms of discrete control are developed on the base of information parameters about dynamics of vacuum contact devices. Structure of control system permits producing automatic mood of motion, supervision principle of remote control with man-operator participation and combine mood when manoperator can possibilities to include in control in critical points of extreme conditions. Mechanical transport system consists of two platforms and drives intended for performing translation and rotation motions of robot with technological equipment. Essential peculiarities of wall climbing control motion are analyzed, such as non-predicted in advance quality of surfaces, external disturbances, and some kinds of obstacles that is necessary to inspect by sensors of information system and to avoid by means of control and drives systems.