Abstract
Abstract-- The paper describes the development of a
wall-climbing robot designed to carry a 7 DOF serial
link robot arm of mass 22 kg to a maximum height of
thirty metres on the outside surfaces of the hull of a
container ship. The arm has been specially designed to
perform remote inspection tasks. It deploys ultrasonic
probes using force control and task error minimising
control to perform pulse echo and Time-Of-FlightDiffraction (TOFD) defect detection. The climbing robot is required to move on flat as well as curved surfaces and to step over 40 mm ridges that are formed by welding together steel plates of different thickness. The robot is currently being developed further to
perform combined welding and monitoring of weld
quality operations.
| Original language | English |
|---|---|
| Publication status | Published - 27 Aug 2001 |
| Externally published | Yes |
| Event | 8th IEEE Conference on Mechatronics and Machine Vision in Practice, M2VIP2001 - Duration: 27 Aug 2001 → … |
Conference
| Conference | 8th IEEE Conference on Mechatronics and Machine Vision in Practice, M2VIP2001 |
|---|---|
| Period | 27/08/01 → … |