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Real-time control realization of a new pneumatic climbing robot

Aimed at realizing the real-time controlling and increasing operating safety, a new hardware integration and software realization of Sky Cleaner IV, which is an improved generation of Sky Cleaner Family, are presented. After a related survey on the Sky Cleaners, a systematical summarizing on basic requirements provided by the control system is given. Following a simple overview of the robotic system, this paper emphasizes the hardware structure and software hierarchy. Tasks distributing and priority setting are discussed in detail. In the end a series of successful on-site test confirms the effectiveness and efficiency of the new principles described above.