Title :
Reachability analysis of the RIOL robot
Author_Institution :
Inst. for Syst. & Robot., Inst. Super. Tecnico, Lisbon, Portugal
Abstract :
The paper presents the reachability analysis for the RIOL robot prototype for power line inspection. The robot is a 5-dof articulated multibody with three claws able to move with statically stable gaits. The claws are assumed to grasp the line with some compliance and hence the reachable positions by each the claws are those that compensate for torques induced by gravity.
Keywords :
inspection; power cables; reachability analysis; robot dynamics; robot kinematics; RIOL robot prototype; claws; gravity; power line inspection; reachability analysis; statically stable gaits; torque; Gravity; Joints; Kinematics; Poles and towers; Robot sensing systems; Three dimensional displays; Power line inspection; Robot reachability;
Conference_Titel :
Applied Robotics for the Power Industry (CARPI), 2010 1st International Conference on
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4244-6633-7
DOI :
10.1109/CARPI.2010.5624459
