Review and Latest Trends in Mobile Robots Used on Power Transmission Lines

Gonçalves, Rogério Sales; Carvalho, João Carlos Mendes

doi:10.5772/56791

Cited by 55 publications

(33 citation statements)

References 31 publications

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“…(19) to (23) are satisfied, then the elements (1,1), (1,3), (2,1) and (2,3) of the matrices A and B are equal. To demonstrate this, these elements of A are calculated using Eqs.…”

Section: A Redundant Equationsmentioning

confidence: 99%

“…Equating the elements (1,2), (2,2), (3,1), (3,3) and (3,2) gives the following equations: 11 12 = This case admits a similar analysis to the previous one: some unknowns must be solved in terms of the others and, in particular, we can choose to solve all the unknowns in terms of the variables φ 1B and y B to deal with simpler equations. However, since r 31 = r 32 = 0, a restriction is lost because Eq.…”

Section: Solution To the Inverse Kinematicsmentioning

confidence: 99%

“…Let (68) and (70) into Eqs. (55) to (58), the elements (1,1), (1,3), (2,1) and (2,3) of the matrix A become equal to the same elements of B [see Eq. (14)].…”

Section: A Redundant Equationsmentioning

confidence: 99%

“…To solve the inverse kinematics, we must solve the equations that are obtained when all the elements of the matrix A are equated to the respective elements of the matrix B. Equating the elements (1,4), (2,4) and (3,4) of both matrices yields the following equations: …”

Section: Solution To the Inverse Kinematicsmentioning

confidence: 99%

“…Working on tall structures is very dangerous for human operators, who are exposed to the risk of falling from height, among others. Examples of such tasks include the periodic cleaning and inspection of glass façades in tall buildings [1], the periodic inspection and maintenance of metallic bridges [2] and power transmission lines [3], the inspection of welded unions in the construction industry [4], and tree climbing for branch trimming or fumigation [5]. Other applications of climbing robots can be found in [6], which also presents a comprehensive review of their main locomotion methods and adhesion technologies.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Inverse Kinematic Analysis of a Redundant Hybrid Climbing Robot

Peidró

Gil

Marı́n

et al. 2015

International Journal of Advanced Robotic Systems

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This paper presents the complete inverse kinematic analysis of a novel redundant truss-climbing robot with 10 degrees of freedom. The robot is bipedal and has a hybrid serial-parallel architecture, where each leg consists of two parallel mechanisms connected in series. By separating the equation for inverse kinematics into two parts -with each part associated with a different leg -an analytic solution to the inverse kinematics is derived. In the obtained solution, all the joint coordinates are calculated in terms of four or five decision variables (depending on the desired orientation) whose values can be freely decided due to the redundancy of the robot. Next, the constrained inverse kinematic problem is also solved, which consists of finding the values of the decision variables that yield a desired position and orientation satisfying the joint limits. Taking the joint limits into consideration, it is shown that all the feasible solutions that yield a given desired position and orientation can be represented as 2D and 3D sets in the space of the decision variables. These sets provide a compact and complete solution to the inverse kinematics, with applications for motion planning.

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“…(19) to (23) are satisfied, then the elements (1,1), (1,3), (2,1) and (2,3) of the matrices A and B are equal. To demonstrate this, these elements of A are calculated using Eqs.…”

Section: A Redundant Equationsmentioning

confidence: 99%

Section: Solution To the Inverse Kinematicsmentioning

confidence: 99%

“…Let (68) and (70) into Eqs. (55) to (58), the elements (1,1), (1,3), (2,1) and (2,3) of the matrix A become equal to the same elements of B [see Eq. (14)].…”

Section: A Redundant Equationsmentioning

confidence: 99%