Abstract
The wall-climbing robot is useful for wall-painting, checking and cleaning. However, it is not put to practical use because gravity makes control difficult. To solve it, there are some researches such as attitude control methods. In most cases its objective is only attitude and there is no consideration for position. So if once position error is caused, robot cannot follow the target path. In this paper, we propose trajectory tracking control of the wall-climbing robot and realize gravity compensation. We confirm validity of the proposed method by simulations.
