Title :
Longitudinal dynamics modeling of the RIOL robot
Author_Institution :
Inst. for Syst. & Robot., Inst. Super. Tecnico, Lisbon, Portugal
Abstract :
This paper describes the longitudinal dynamics modeling of the RIOL robot. This robot is designed to move hanging on a suspended cable in applications such as the inspection of electric power lines and aerial monitoring/surveillance. The main characteristics of the robot are described along with simulation results for full and reduced models of the longitudinal dynamics and respective comparison using L2 gain estimates.
Keywords :
condition monitoring; inspection; mobile robots; power cables; robot dynamics; service robots; surveillance; L2 gain estimates; RIOL robot; aerial monitoring; aerial surveillance; electric power lines inspection; longitudinal dynamics modeling; suspended cable; Computational modeling; Grasping; Joints; Kinematics; Mathematical model; Prototypes; Robots; Power lines; Robot dynamics; Robot kinematics; Variable structure model;
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.2010.5624463
