Updated: 13 May 2015 - 11:03am by C. Balaguer
Start:1999 / End:2001
Principal investigator: Carlos Balaguer
Multiple autonomous self-supported low-cost robots system for applications in coordinated non-conventional tasks

The main objective of this project is the development of the low-cost system formed by several 4 DOF climbing robots for inspection and maintenance tasks in complex 3D environments, usually metallic- or reinforced cement-based of big dimensions.

The development of the robots for non traditional manufacturing industries like construction, shipbuilding, chemical, aeronautical, etc., increases every day. These industries need robots able to perform non-conventional operations (inspection, maintenance, etc.) in complex 3D environments, which are usually metallic-based or reinforced cement structures of big dimensions and with variety of geometries. These robots are normally self-supported, which permits them to climb these structures. Their design lies in the border of the new industrial and service robots. This fact makes the robots very flexible to perform a big variety of tasks. The main objective of this project is the development of the low-cost system by several 4 DOF climbing robots. The robots are a low weight, with big payload capacity, with big autonomy and with velocity which permits to obtain the successful level of productivity in realistic environments. To obtained a good quality of movements the adaptive control algorithm with gravity compensation will be implemented in the specially develop architecture. The planning, the coordination and task distribution will be performed using the optimum energy criterion. For the security of the robot the special grippers will be developed.

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Doctoral Thesis