Safety systems of technological climbing robots

Technological climbing robots (CRs) are mobile mechatronic systems intended for motion on arbitrary orientated surfaces and performing different technological operations by means of technological equipment they have on board. The paper contains an overview of the software and hardware possibilities to provide the safety of CRs´ motion. Emergency task programme management and adaptive feedback control are considered. Classification of the different safety measures according to a principle, a position of an umbilical relative to CR, a working level on the surface, the system failures and the motion surface type is given. Respective schemes of the CRs´ safety systems are presented. Some methods of holding force calculation for the different schemes are discussed