英语原文: Adhesion Control for the Alicia3 Climbing Robot D. Longo and G. Muscato Dipartimento di Ingegneria Elettrica Elettronica e dei Sistemi, Universit`a degli Studi di Catania, viale A. Doria 6, 95125 Catania Italy Abstract. Climbing robots are useful devices that can be adopted in a variety of applications like maintenance, building, inspection and safety in the process and construction industries. The main target of the Alicia3 robot is to inspect non porous vertical wall with any regard for the material of the wall. To meet this target, a pneumatic-like adhesion for the system has been selected. Also the system can move over the surface with a suitable velocity by means of two DC motors and esome obstacle thanks to a special cup sealing. This adhesion technology requires a suitable controller to improve system reliability. This is because small obstacles passing under the cup and wall irregularitycan vary the value of the internal pressure of the cup putting the robot in some anomalous working conditions. The methodologies used for deriving an accuratesystem model and controller will be explained and some result will be presented inthis work. 1 Introduction Climbing robots can be used to inspect vertical walls to search for potential damage or problems on external or internal surface of aboveground/underground etrochemical storage tanks, concrete walls and metallic structures[1–4]. By using this system as carrier, it will be possible to conduct anumber of NDI over the wall by carrying suitable instrumentation [5, 6].The main application of the proposed system is the automatic inspectionof the external surface of aboveground petrochemical storage tanks where it is very important to perform periodic inspections (rate of corrosion, risk of air or water pollution) at different rates, as standardized by the AmericanPetroleum Institute [7]. The system can be also adopted to inspect concrete dams. While these kinds of inspections are important to preven
