@inproceedings{82ab1c3b5c9048768c3347af1a874e9e,
title = "A novel approach to pneumatic position servo control of a glass wall cleaning robot",
abstract = "Taking Shanghai Science and Technology Museum as the operation target, the robot named skycleaner which is totally actuated by pneumatic cylinders and is sucked to the glass walls with vacuum suckers is presented. In order to solve the problems of lower stiffness and the nonlinear movement characteristic of the pneumatic system, a method of segment and variable bang-bang controller is proposed to implement the accurate control of the position servo system using the principle of pneumatic pulse width-modulation (PWM). Testing results show that the controller can effectively improve the control quality. This implies that the method can meet the requirements of realization.",
keywords = "Climbing robot, PWM, Position servo system, Segment and variable bang-bang controller",
author = "Houxiang Zhang and Jianwei Zhang and Rong Liu and Guanghua Zong",
year = "2004",
language = "英语",
isbn = "0780384636",
series = "2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
pages = "467--472",
booktitle = "2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
note = "2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ; Conference date: 28-09-2004 Through 02-10-2004",
}