A climbing autonomous robot for inspection applications in 3D complex environments

被引：109

作者：

Balaguer, C ^{[1
]}

Giménez, A ^{[1
]}

Pastor, JM ^{[1
]}

Padrón, VM ^{[1
]}

Abderrahim, C ^{[1
]}

机构：

[1] Univ Carlos III Madrid, Dept Ingn Elect Elect & Automat, Madrid 28911, Spain

来源：

ROBOTICA | 2000年 / 18卷 / 03期

关键词：

climbing robots; autonomous systems; robot path planning; optimum planning;

D O I：

10.1017/S0263574799002258

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：287 / 297

页数：11

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