Title :
SCID - a non-actuated robot for walls exploration
Author :
Longo, Domenico ; Muscato, Giovanni
Author_Institution :
Dipartimento Elettrico, Elettronico e Sistemistico, Catania Univ., Italy
Abstract :
In this paper a control methodology applied to a passive mechanical system is described. The sliding climbing inspection device (SCID) has been designed to slide down over a ferromagnetic vertical surface, using two electromagnets. The on-board electronics and the control algorithm used allow the system to control its velocity and trajectory. The system was experimentally tested and a simplified mathematical model was computed
Keywords :
computerised control; inspection; mobile robots; position control; robot dynamics; robot kinematics; stiction; velocity control; climbing robot; dynamics; electromagnets; kinematics; nonactuated robot; passive mechanical system; sliding climbing inspection device; stiction control; trajectory control; velocity control; walls exploration; Climbing robots; Control systems; Electromagnets; Inspection; Mathematical model; Petroleum; Potentiometers; Saturation magnetization; Sliding mode control; Velocity control;
Conference_Titel :
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location :
Como
Print_ISBN :
0-7803-6736-7
DOI :
10.1109/AIM.2001.936781
