Motion control of a climbing robot

• Main Authors: CHUN-HSIUNG , CHANG, 張俊雄
• Other Authors: 吳佳儒
• Format: Others
• Language: zh-TW
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/64107850856211250141

碩士 === 國立雲林科技大學 === 電機工程系碩士班 === 97 === The purpose of this thesis is to study the motion control of a two-legged electromagnetism adsorption type climbing robot. The robot to be designed has the capabilities to move back and forth and make a right or a left turn on a vertical steel plane. Meanwhile, a manipulator and a CCD camera are mounted on the robot such that the robot can perform a task such as safety-checking. A HOLTEK single-chip is used as the main controller to control the movement of the robot. The communication between the main controller and the computer is through the RS232 module. The man-machine interface between the computer and the end monitor is developed by using the Borland C++ Builder (BCB) such that the control signals and other information can be transmitted between these two devices. The manipulator of the robot contains seven RC motors. The feasibility of the designed system is verified by the experiment. In the experimental examples, it is shown that the manipulator can be controlled to draw some simple pictures according to the images provided by the CCD camera.