Author:
Balaguer C.,Giménez A.,Pastor J. M.,Padrón V. M.,Abderrahim M.
Abstract
Often inspection and maintenance work involve a large number of highly
dangerous manual operations, especially within industrial fields such as shipbuilding
and construction. This paper deals with the autonomous climbing robot which uses the “caterpillar” concept to climb in complex 3D metallic-based structures. During its motion the robot generates in real-time the path and grasp planning in order to ensure stable self-support to avoid the environment obstacles, and to optimise the robot consumption during the inspection. The control and monitoring of the robot is achieved through an advanced Graphical User Interface to allow an effective and user friendly operation of the robot. The experiments confirm its advantages in executing the inspection
operations.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
95 articles.
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