吸着式車輪型壁面移動ロボットの軌道追従制御法

摘要

Wall-climbing robots can be used for various dangerous works such as painting, inspecting and cleaning of vertical walls instead of human workers. The typical wall-climbing robots use a magnet or a vacuum suction device for travelling on the vertical wall. For a reliable and an efficient work, the robots should follow a desired path accurately. However, gravitational effect makes lower the performance of the trajectory control for the case of travelling on the vertical wall. In this paper, a trajectory tracking control law for a skid steer type wall-climbing robot is proposed considering the gravitational effect. The control law is a non-linear feedback one with compensation of gravity and wheels' rolling resistance. It is shown that a tracking error converges to zero using Lyapunov method. A window cleaning robot is used for an experiment of the trajectory tracking control. The experimental results confirm the validity of the proposed control method.%オフィスビル等の窓ガラス清掃は多くの場合，ビルの屋上から人やゴンドラを吊るして行われている．この清掃作業は作業者落下の危険性があり，また人件費が多大となることから自動化が強く望まれている．自動化されたものとして，たとえば屋上を移動するロボットからガイドレールに沿って清掃ユニットを吊り下げる大型清掃ロボットがある(1)．しかしこのような大型