ROMA robots for inspection of steel based infrastructures

被引：57

作者：

Balaguer, C ^{[1
]}

Gimenez, A ^{[1
]}

Abderrahim, M ^{[1
]}

机构：

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

来源：

INDUSTRIAL ROBOT | 2002年 / 29卷 / 03期

关键词：

robots; inspection;

D O I：

10.1108/01439910210425540

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

The robotics laboratory of the Universidad Carlos III of Madrid has developed the ROMA climbing robots, which are able to travel along 3D complex environments to carry out inspection tasks. The ROMA robots family is able to self-support its locomotion system and moves in a similar way to a caterpillar. During this motion the robots generate in real-time an optimal path and grasp planning in order to ensure a stable self-support and avoid obstacles in the environment. In order to move the robots in a teleoperated or automatic way a man-machine interface has been developed. The robots were developed primarily for use during the inspection of complex metallic structures. There are a large number of operations to be performed on metallic structures such as those encountered in bridges, oil rigs and building skeletons which represent a danger for human operators, Nevertheless, they are not limited to these structures due to fact that they are equipped with the necessary tools for new environments like concrete.

引用

页码：246 / 251

页数：6