SAFARI inspection robot*motion strategy

Piotr Dutkiewicz; Michał Kowalski; Marek Ławniczak; Mateusz Michalski

doi:10.1109/ROMOCO.2002.1177091

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Title

SAFARI inspection robot*motion strategy

Authors

Piotr Dutkiewicz ^{[ 1 ][ P ]}
Michał Kowalski ^{[ 1 ][ P ]}
Marek Ławniczak ^{[ 1 ][ P ]}
Mateusz Michalski ^{[ 1 ][ P ]}

^{[ 1 ]} Instytut Sterowania i Inżynierii Systemów (ISt), Wydział Informatyki i Zarządzania, Politechnika Poznańska | ^{[ P ]} employee

Year of publication

2002

Chapter type

paper

Publication language

english

Abstract

EN This paper presents the motion strategy of a wall-climbing inspection robot SAFARI. An algorithm of the robot's leg movement is described. The movement sequence is chosen autonomously by the robot, respecting geometrical constraints of its construction. Robot behavior in emergency situations when any of the legs cannot be sealed on a movement surface is also described. Direct and inverse kinematics for the SAFARI robot are presented. Then, another approach, named vector formulation of kinematics, is presented. Finally, we describe software supervision of the robot's states, supporting an operator in monitoring of the robot's functioning.

Pages (from - to)

93 - 100

DOI

10.1109/ROMOCO.2002.1177091

URL

https://ieeexplore.ieee.org/document/1177091

Book

RoMoCo'2002 : Proceedings of the Third International Workshop on Robot Motion and Control, Bukowy Dworek, Poland, 9-11.11.2002 r

Presented on

3rd International Workshop on Robot Motion and Control, RoMoCo'02, 9-11.11.2002, Bukowy Dworek, Poland

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