Motion Analysis and Trajectory Tracking Control of Propeller-Type Climbing Robot

Every day, human being increasingly depends on using robots in the life. Where, they are capable of replacing human beings to perform dangerous and tedious operations with a high efficiency and a low cost for the terrestrial and space applications. During the past decades, the need for robots capable for climbing vertical wall has been increased. In this paper, the mathematical model for wall climbing robot (WCR) based on the dynamics of robot has been derived. MATLAB/SIMULINK has been used to simulate the model. Trajectory tracking problem of WCR has also been discussed. Where, the fuzzy-backstepping controller has been adopted. A propeller type wall climbing robot, which has designed by authors in previous work, is used for an experiment of the trajectories tracking control. Some developing steps have been achieved to develop the robots in order to meet the test requirements. In addition to the wall tests, the robot was tested in Kangaroo mode to track inclined line with initial error in pose on the ground. The vision system was suggested to provide information about robot pose (position and orienting). The experimental result confirms the validity of the proposed method.