Trajectory Tracking of a Wall-Climbing Cutting Robot Based on Kinematic and PID Joint Optimization
Cutting is a crucial step in the industrial production process, particularly in the manufacture of large structures. In certain spatial positions, using a mobile robot, especially a wall-climbing robot (WCR) with adsorption function, is essential for carrying cutting torches to cut large steel compo...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-03-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/13/3/229 |
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| author | Xiaoguang Liu Zhenmin Wang Jing Wu Hongmin Wu Hao Zhang |
| author_facet | Xiaoguang Liu Zhenmin Wang Jing Wu Hongmin Wu Hao Zhang |
| author_sort | Xiaoguang Liu |
| collection | DOAJ |
| description | Cutting is a crucial step in the industrial production process, particularly in the manufacture of large structures. In certain spatial positions, using a mobile robot, especially a wall-climbing robot (WCR) with adsorption function, is essential for carrying cutting torches to cut large steel components. The cutting quality directly impacts the overall manufacturing quality. Therefore, effectively tracking the cutting trajectory of wall-climbing cutting robots is very important. This study proposes a controller based on a kinematic model and PID optimization. The controller is designed to manage the robot’s kinematic trajectory, including the torch slider, through the kinematic modeling of the wall-climbing cutting robot (WCCR). The stability of the control law is proven using the Lyapunov function, which controls the linear and angular velocities of the WCCR and the motion speed of the cross slider. Simulations verify that the control law performs well in tracking both straight-line and circular trajectories. The impact of different control law parameters on straight-line trajectory tracking is also compared. By introducing PID optimization control, the controller’s anti-interference capabilities are enhanced, addressing the issue of motion velocity fluctuation when the WCCR tracks curved trajectories. The simulation and experiment results demonstrate the effectiveness of the proposed controller. |
| format | Article |
| id | doaj-art-bc862c9e96164fb3bcc5408973b01dcc |
| institution | OA Journals |
| issn | 2075-1702 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj-art-bc862c9e96164fb3bcc5408973b01dcc2025-08-20T01:48:48ZengMDPI AGMachines2075-17022025-03-0113322910.3390/machines13030229Trajectory Tracking of a Wall-Climbing Cutting Robot Based on Kinematic and PID Joint OptimizationXiaoguang Liu0Zhenmin Wang1Jing Wu2Hongmin Wu3Hao Zhang4School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641, ChinaSchool of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641, ChinaSchool of Intelligent Manufacturing, Guangzhou City Polytechnic, Guangzhou 510405, ChinaKey Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangdong Academy of Sciences, Guangzhou 510070, ChinaKey Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangdong Academy of Sciences, Guangzhou 510070, ChinaCutting is a crucial step in the industrial production process, particularly in the manufacture of large structures. In certain spatial positions, using a mobile robot, especially a wall-climbing robot (WCR) with adsorption function, is essential for carrying cutting torches to cut large steel components. The cutting quality directly impacts the overall manufacturing quality. Therefore, effectively tracking the cutting trajectory of wall-climbing cutting robots is very important. This study proposes a controller based on a kinematic model and PID optimization. The controller is designed to manage the robot’s kinematic trajectory, including the torch slider, through the kinematic modeling of the wall-climbing cutting robot (WCCR). The stability of the control law is proven using the Lyapunov function, which controls the linear and angular velocities of the WCCR and the motion speed of the cross slider. Simulations verify that the control law performs well in tracking both straight-line and circular trajectories. The impact of different control law parameters on straight-line trajectory tracking is also compared. By introducing PID optimization control, the controller’s anti-interference capabilities are enhanced, addressing the issue of motion velocity fluctuation when the WCCR tracks curved trajectories. The simulation and experiment results demonstrate the effectiveness of the proposed controller.https://www.mdpi.com/2075-1702/13/3/229wall-climbing and cutting robottrajectory trackingkinematic modelPID control |
| spellingShingle | Xiaoguang Liu Zhenmin Wang Jing Wu Hongmin Wu Hao Zhang Trajectory Tracking of a Wall-Climbing Cutting Robot Based on Kinematic and PID Joint Optimization Machines wall-climbing and cutting robot trajectory tracking kinematic model PID control |
| title | Trajectory Tracking of a Wall-Climbing Cutting Robot Based on Kinematic and PID Joint Optimization |
| title_full | Trajectory Tracking of a Wall-Climbing Cutting Robot Based on Kinematic and PID Joint Optimization |
| title_fullStr | Trajectory Tracking of a Wall-Climbing Cutting Robot Based on Kinematic and PID Joint Optimization |
| title_full_unstemmed | Trajectory Tracking of a Wall-Climbing Cutting Robot Based on Kinematic and PID Joint Optimization |
| title_short | Trajectory Tracking of a Wall-Climbing Cutting Robot Based on Kinematic and PID Joint Optimization |
| title_sort | trajectory tracking of a wall climbing cutting robot based on kinematic and pid joint optimization |
| topic | wall-climbing and cutting robot trajectory tracking kinematic model PID control |
| url | https://www.mdpi.com/2075-1702/13/3/229 |
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