基于递阶控制的爬壁机器人控制系统设计

摘要

The ontology structure of wall climbing robot for chemical container was introduced,hardware design and software programming of the control system of the robot were accomplished in the paper,three-level hierarchical control structure based on industrial motherboard was put forward,the prototype of the wall climbing robot has been manufactured and tested and the feasibility of the control system was validated.%该文在介绍役化工容器爬壁机器人本体结构的基础上,完成了爬壁机器人控制系统的硬件设计和软件编程,提出了基于工业母板的三级递阶式控制结构,研制出了爬壁机器人样机并进行了现场试验,验证了机器人系统的可行性.