Adhesion Force Control and Active Gravitational Compensation for Autonomous Inspection in LPG Storage Spheres

Author

De Oliveira, André Schneider ; De Arruda, Lucia Valéria Ramos ; Neves, Flávio, Jr. ; Espinoza, Rodrigo Valério ; Nadas, João Pedro Battistella

Author_Institution

Dept. of Inf. & Commun., Fed. Inst. of Parana (IFPR), Curitiba, Brazil

fYear

2012

fDate

16-19 Oct. 2012

Firstpage

232

Lastpage

238

Abstract

This paper presents a climbing robot based in wheel locomotion and magnetic adherence, a common mechanical topology applicable to a wide range of industrial tasks. The robot is applied to perform internal/external inspection in liquefied petroleum gas (LPG) storage spheres, hence, some severe operation features like adherence and force balance impose necessary conditions to the robot. In order to satisfy these conditions, a dynamic control system is developed in two steps, active gravitational compensation and adhesion force control.

Keywords

adhesion; compensation; force control; industrial robots; inspection; mobile robots; petroleum; petroleum industry; robot dynamics; LPG storage spheres; active gravitational compensation; adhesion force control; autonomous inspection; climbing robot; dynamic control system; external inspection; force balance; industrial tasks; internal inspection; liquefied petroleum gas storage spheres; magnetic adherence; mechanical topology; wheel locomotion; Actuators; Adhesives; Gravity; Inspection; Mobile robots; adherence; climbing robot; dynamic control; storage spheres;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics Symposium and Latin American Robotics Symposium (SBR-LARS), 2012 Brazilian

Conference_Location

Fortaleza

Print_ISBN

978-1-4673-4650-4

Type

conf

DOI

10.1109/SBR-LARS.2012.45

Filename

6363348