Quasi-Omnidirectional Fuzzy Control of a Climbing Robot for Inspection Tasks

Santos, Higor Barbosa; Teixeira, Marco Antônio; Oliveira, André Schneider de; Arruda, Lúcia Valéria Ramos de; Neves-Jr, Flávio

doi:10.1007/s10846-017-0672-9

Cited by 14 publications

(8 citation statements)

References 21 publications

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“…The next experiment aims to highlight the robustness of the proposed controller during the climb, as well as in [ 17 , 38 , 39 ]. The climbing robot will navigate from the bottom to the top of the LPG tank’s inner surface at a constant speed (

m/s and

0 rad/s), as shown in Figure 14 .…”

Section: Simulation Resultsmentioning

confidence: 99%

“…Several combinations of locomotion system and adhesion methods can be implemented. The most common types of locomotion systems to climbing tasks are arms/legs [16], wheels [17], wired/rail [18] and tracks [19]. Main adhesion mechanisms are magnetic [20][21][22] and electrostatic [23,24], but there exist other adhesion methods, such as pneumatic [25], mechanical [26] and chemical [27].…”

Section: Overview Of Climbing Robotsmentioning

confidence: 99%

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Model Predictive Torque Control for Velocity Tracking of a Four-Wheeled Climbing Robot

Santos

Teixeira

Dalmedico

et al. 2020

Sensors

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Climbing robots are characterized by a secure surface coupling that is designed to prevent falling. The robot coupling ability is assured by an adhesion method leading to nonlinear dynamic models with time-varying parameters that affect the robot’s mobility. Additionally, the wheel friction and the force of gravity force are also relevant issues that can compromise the climbing ability if they are not well modeled. This work presents a model-based torque controller for velocity tracking in a four-wheeled climbing robot specially designed to inspect storage tanks. The model-based controller (MPC) compensates for the effects of nonlinearities due to the forces of gravity, friction, and adhesion through the dynamic and kinematic modeling of the climbing robot. Dynamic modeling is based on the Lagrange-Euler approach, which allows a better understanding of how forces and torques affect the robot’s movement. Besides, an analysis of the interaction force between the robot and the contact surface is proposed, since this force affects the motion of the climbing robot according to spatial orientation. Finally, simulations are carried out to examine the robot’s dynamics during the climbing movement, and the MPC is validated through the redrobot simulator V-REP and practical experiments. The presented results highlight the compensation of the nonlinear effects due to the robot’s climbing motion by the proposed MPC controller.

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m/s and

0 rad/s), as shown in Figure 14 .…”

Section: Simulation Resultsmentioning

confidence: 99%

Section: Overview Of Climbing Robotsmentioning

confidence: 99%

Model Predictive Torque Control for Velocity Tracking of a Four-Wheeled Climbing Robot

Santos

Teixeira

Dalmedico

et al. 2020

Sensors

Self Cite

View full text Add to dashboard Cite

show abstract

“…Each adhesion method has different types of adhesion. For example, the magnet adhesion usually adopts foot [1] and [2], wheel [3][4][5][6][7][8][9][10][11], and track-types [12][13][14]. Negative pressure has suction [15][16][17][18], multilink [19][20][21], and propeller-types [22][23][24].…”

Section: Introductionmentioning

confidence: 99%

Self-Compliant Track-Type Wall-Climbing Robot for Variable Curvature Facade

Yang

Zhang

et al. 2022

IEEE Access

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The paper presents a wall-climbing robot featuring self-compliance for variable curvature façades. The high payload and maneuverability make it highly potential in heavy-duty operation of industrial applications. The robot consists of two traction modules and one link module. Each traction module is equipped with magnetic adhesion and crawler traction submodules. The two traction modules are connected by the link module with 4 degrees of freedom (DoF) of passive compliance. Variable curvature façade self-compliance is achieved by the passive compliant link module, which results in the attitude change decoupling of the two traction modules. The attitude can be adjusted under the effect of magnetic adhesion force to comply with the curvature variations. High payloads are achieved by the large contact area between the crawler and the surface. Omni-directional high maneuverability is enabled by the speed difference between the motors of two traction modules. The robot can maneuver in any direction on the surface with a minimum radius of 1 m and carry 36 kg payload on vertical surfaces.

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“…By adsorbing and running on vertical walls, wall-climbing robots can carry a variety of equipment and instruments instead of manual operations. In the inspection and maintenance of tanks, a variety of wall-climbing robots have also been researched, such as a non-contacted permanent magnetic absorbed wall-climbing robot for ultrasonic weld inspection of spherical tank [25], a compact wall-climbing and surface adaptation robot for non-destructive testing [26], an intelligent inspection robot worked inside and outside spherical storage tanks [27][28][29] and wall climbing robot with permanent magnetic tracks for inspecting oil tanks [30]. For Full list of author information is available at the end of the article •3• spherical tank inspection, factors such as rust, oil stains, and welds may affect the operation of wall-climbing robots, causing problems such as sliding or falling.…”

Section: Introduction mentioning

confidence: 99%

Integrated Inspection Robotic System for Spherical Tanks: Design, Analysis and Application

Li¹,

Liang

Zheng

et al. 2022

Preprint

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Automated robot inspection for spherical tank is beneficial to improving work efficiency and reducing costs. This paper presents an inspection robotic system that integrates software and hardware. The designed inspection robot can adsorb and climb on the vertical surface of tanks, carrying some equipment and tools. The mechanical structure of the robot includes four magnetic wheels, two drive components, a vision component and a multi-layer robot frame. Modular magnetic wheels can be installed and replaced quickly and easily. Additional grinding mechanism, cleaning mechanism and detection mechanism are also designed to achieve automated inspection and maintenance. The robotic system software is developed to achieve the remote control and monitoring of the robot. The deep networks of Mask R-CNN are applied to intelligently identify weld seams. Force balance and obstacle-negotiation performance of the robot are analyzed and simulated. Climbing experiments results indicate that the robot can carry 10.1 kg payload and climb stably on the vertical tank wall. In obstacle-surmounting experiments, the robot could smoothly negotiate the weld seam with a height of 4 mm. The robotic system can identify weld seams in real time after training and learning, the identification time of each image is about 0.2-0.25s. The field tests on a 3000 m3 spherical tank were carried out to test the practicality of the robotic system. The application of this inspection robotic system can effectively improve the automated inspection and maintenance of spherical tanks.

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Quasi-Omnidirectional Fuzzy Control of a Climbing Robot for Inspection Tasks

Cited by 14 publications

References 21 publications

Model Predictive Torque Control for Velocity Tracking of a Four-Wheeled Climbing Robot

Model Predictive Torque Control for Velocity Tracking of a Four-Wheeled Climbing Robot

Self-Compliant Track-Type Wall-Climbing Robot for Variable Curvature Facade

Integrated Inspection Robotic System for Spherical Tanks: Design, Analysis and Application

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