Descripción
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This paper presents some of the developments made in the construction of a modular climbing robot for infrastructure inspection. The development and optimization of independent vacuum generator systems for each leg is presented, with the flow-rate taking priority over the relative pressure. It also describes the general robot structure, as well as the initial mathematical models required for the development of a control system based on an biomimetic organic model. Finally, it is highlighted the use of simulators to help the iterative design process of a strongly mechatronic system. Some of the obtained results have been experimentally validated. | |
Internacional
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Si |
Nombre congreso
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Joint Conference 8th IFAC Symposium on Mechatronic Systems (MECHATRONICS 2019), and 11th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2019) |
Tipo de participación
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960 |
Lugar del congreso
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Vienna |
Revisores
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Si |
ISBN o ISSN
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DOI
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Fecha inicio congreso
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04/09/2019 |
Fecha fin congreso
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06/09/2019 |
Desde la página
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1049 |
Hasta la página
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1054 |
Título de las actas
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Preprints, Joint Conference 8th IFAC Symposium on Mechatronic Systems (MECHATRONICS 2019), and 11th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2019) |