POLISH ACADEMY of SCIENCES
TECHNICAL SCIENCES
| BULLETIN
of the
POLISH ACADEMY of SCIENCES TECHNICAL SCIENCES |
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| Volume 52, Issue 2, July 2004 | ||||
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pp
119 - 129
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| Inspection robot SAFARI – construction and control |
| P. DUTKIEWICZ, K. KOZLOWSKI and W. WROBLEWSKI |
| The paper presents construction and control system of the climbing robot Safari designed at the Poznan University of Technology for inspection of high building walls, executed in order to evaluate their technical condition. Because such tasks are uncomfortable and very dangerous for humans, this mobile machine gives a possibility to observe and examine the state of the surface on which it is moving. The robot is a construction developed for walking on flat but uneven vertical and horizontal surfaces. Its on-board equipment provides ability to remotely examine and record images reflecting the robot’s surroundings. At the beginning of the paper, several concepts of existing climbing robots (four-legged, six-legged, sliding platform) are outlined. Next, the mechanical system of the Safari robot is presented with special emphasis on its kinematic equations and description of movement stages. Then, the on-board manipulator as well as the sensor and control systems are described. |
| Keywords: |
| walking robots, climbing robots, robot control, kinematics, sensor system. |
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| Copyright - Bulletin of the Polish Academy of Sciences: Technical Sciences
10 September 2004, site prepared by KZ |
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