Natsuki Kageyama, Takeshi Nishimura, T. Itoh, T. Atsumi, S. Nakadai
{"title":"Detection of Reduced Magnetic Attraction Force Using a Disturbance Observer for Crawler Robots","authors":"Natsuki Kageyama, Takeshi Nishimura, T. Itoh, T. Atsumi, S. Nakadai","doi":"10.1109/ICM46511.2021.9385660","DOIUrl":null,"url":null,"abstract":"This paper presents an estimation method for the magnetic attractive force between a crawler robot and a moving surface. The robot has crawlers which have magnets to climb a wall. However, there is a problem that the robot may fall when the magnetic attraction force becomes weak. To solve this problem, we employ a disturbance observer in the control system of the crawler drive motor. The experimental results confirmed that the proposed method can detect the risk of falling due to the decreasing the magnetic attraction force between the crawler robot and the moving surface.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 IEEE International Conference on Mechatronics (ICM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICM46511.2021.9385660","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
This paper presents an estimation method for the magnetic attractive force between a crawler robot and a moving surface. The robot has crawlers which have magnets to climb a wall. However, there is a problem that the robot may fall when the magnetic attraction force becomes weak. To solve this problem, we employ a disturbance observer in the control system of the crawler drive motor. The experimental results confirmed that the proposed method can detect the risk of falling due to the decreasing the magnetic attraction force between the crawler robot and the moving surface.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
