Speed control and magnetic analysis of crawling robot with magnetic binder

Abstract

A crawling robot with a magnetic binder called CROMAB is developed and the finite element magnetic analysis and the speed control system of the robot are studied. CROMAB is designed to be used on the slopped surface and to perform pipe-cutting, welding, or similar process onto the work-surface. The robot binds itself to the magnetic-permeable surface using magnetic force and autonomously travels along the work-path. In the current research, the particular application of pipe-cutting process is considered. A repetitive learning controller is designed and implemented to maintain a constant velocity and consistent cutting performance by compensating the varying gravitational effect caused by the position change of the robot and the nonlinear disturbances caused by mechanical defects of the robot. An accelerometer-based angular displacement estimation system is developed and implemented for the improved control performance.The magnetic binding system is analyzed by using an finite element analysis tool. The numerical analysis of the magnetic system and the experimental results of the control system verify the effectiveness of CROMAB.