Intelligent System for Adhesion Control of Universal Robotic Platform

Abstract

The paper is devoted to modern aspects of mobile robotics, namely to the universal robotic platforms that can be used in various technological environments and conditions to perform different technical tasks at industrial facilities and enterprises. These platforms are capable of moving on horizontal surfaces with complex terrain as well as climbing vertically on sheer walls and ceilings and are the universal autonomous means of carrying out complex operations in hard-to-reach and dangerous places for humans. One of the biggest challenges in operating these robotic platforms is proper adhesion control when moving on inclined planes. In this study, the authors performed the design and study of the intelligent adhesion control system that provides efficient and reliable fastening and movement of the platform on inclined surfaces of various types. This system is based on fuzzy control principles that allows determining the necessary adhesion force of the robotic platform for its safe and efficient use at various angles of the surface inclination. The system’s performance is verified by computer simulation.