中文摘要：

介绍一种船舶除锈爬壁机器人控制系统。根据船舶除锈对爬壁机器人的控制要求，确定了控制系统采用上下位机两级分布式的控制方案，并分别对上下位机控制系统的硬件和软件进行设计。搭建爬壁机器人控制系统的硬件实物，并进行相关实验测试。试验结果表明：该控制系统有较好的应用性能，能够满足机器人控制系统的要求。

英文摘要：

The control system of a wall climbing robot for ship rust removal was introduced. According to the requirements of ship derusting operation, the control scheme was determined, which adopted two stage distributed control system with host and slave com- puter. The hardware and software of host and slave computer control system were designed individually. The prototype of wall-climbing robot control system was manufactured and the relevant tests were taken. The experimental results show that the control system works in a good condition, it can meet requirements of the robot control system.