Inspection robot SAFARI - construction and control

• Autorzy: Dutkiewicz, P. , Kozłowski, K. , Wróblewski, W.
• Języki publikacji: EN

Abstrakty

EN

The paper presents construction and control system of the climbing robot SAFARI designed at the Poznan University of Technology for inspection of high building walls, executed in order to evaluate their technical condition. Because such tasks are uncomfortable and very dangerous for humans, this mobile machine gives a possibility to observe and examine the state of the surface on which it is moving. The robot is a construction developed for walking on flat but uneven vertical and horizontal surfaces. Its on-board equipment provides ability to remotely examine and record images reflecting the robot's surroundings. At the beginning of the paper, several concepts of existing climbing robots (four-legged, six-legged, sliding platform) are outlined. Next, the mechanical system of the SAFARI robot is presented with special emphasis on its kinematic equations and description of movement stages. Then, the on-board manipulator as well as the sensor and control systems are described.

Słowa kluczowe

EN

walking robots; climbing robots; robot control; kinematics; sensor system

• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2004
• Tom: Vol. 52, nr 2
• Strony: 119-129
• Opis fizyczny: Bibliogr. 15 poz., 15 rys.

Twórcy

autor

Dutkiewicz, P.

autor

Kozłowski, K.

• Institute of Control and Systems Engineering, Poznań University of Technology, 3a Piotrowo St., 60-965 Poznań, Poland,

autor

Wróblewski, W.

Bibliografia

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• [4] 4 D. Dobroczyński, P. Dutkiewicz, P. Herman and W. Wróblewski, “A climbing robot Safari for buildings inspection”, Proc. of the 4th International Conference on Climbing and Walking Robots ’CLAWAR’, pp. 937–944, Karlsruhe, (2001).
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• [11] 11 P. Dutkiewicz and M. Ławniczak, “Sensor system for Safari wall-climbing robot”, Archives of Control Sciences 12(1–2), 103–123 (2002).
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• [14] 42 K. Kozłowski, P. Dutkiewicz, M. Ławniczak, M. Michalski and M. Michałek, “Measurement and control system of the climbing robot Safari ”, Proc. of the 5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, pp. 1003–1012, Paris, (2002).
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