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Motion strategy for the trepa climbing robot on a metallic orthogonal structure

Abstract:

In this paper, we propose a motion strategy for a Climbing Parallel Robot (CPR) named TREPA. This motion strategy allows the robot to slide through a metallic orthogonal structure. Three kinematic performance indexes are introduced in order to assess the robot’s performance during the execution of the task. By means of this strategy, we found the sequence of movements and trajectories that allow the robot to move from one column to another while avoiding collisions, singular configurations and the robot’s joint limits.

Año de publicación:

2010

Keywords:

    Fuente:

    scopusscopus

    Tipo de documento:

    Conference Object

    Estado:

    Acceso restringido

    Áreas de conocimiento:

    • Robótica

    Áreas temáticas:

    • Física aplicada
    • Otras ramas de la ingeniería

    Contribuidores:

    Roque J. Saltarén PazmiñoRoque J. Saltarén Pazmiño
    Santonja R.A.Santonja R.A.
    Pamanes A.Pamanes A.
    Moreno H.A.Moreno H.A.