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- Title
Realization of a Service Robot for Cleaning Spherical Surfaces.
- Authors
Houxiang Zhang; Jianwei Zhang; Rong Liu; Guanghua Zong
- Abstract
There are more and more buildings with complicated shape emerging all over the world. Their walls require constant cleaning which is difficult to realize. In this paper, based on analyzing the characteristics of the working target,a new kind of auto-climbing robot is proposed, which is used for cleaning the spherical surface of the National GrandTheatre in China. The robots' mechanism and unique aspects are presented in detail. A distributed controller based onCAN bus is designed to meet the requirements of controlling the robot. The control system is divided into 6 parts, fiveCAN bus control nodes and a remote controller, which are designed and established based mainly on the P80C592.Finally, the motion function is described in detail. The experimental results confirm the principle described above andthe robot's ability to work on the spherical surface.
- Subjects
ROBOTICS; ROBOTS; BUILDINGS; CONTROL theory (Engineering); MACHINE theory
- Publication
International Journal of Advanced Robotic Systems, 2005, Vol 2, Issue 1, p53
- ISSN
1729-8806
- Publication type
Article
- DOI
10.5772/5800