Control System Basic Design of Wall Climbing Robot for Hull Plate Spraying in Dock

According to the design index of hull plate spraying in dock, a wall climbing robot for hull plate spraying in dock (WCR-HPSD) is designed, the functional requirements of the robot is discussed, the robot control requirements and control properties are analyzed, and the robot control models are established, including the driving walking control, the trajectory traversing control, the spraying reciprocating slide table control and the robot overall control. Finally, the human-computer interaction control scheme of robot is designed.