Cited 0 time in webofscience Cited 1 time in scopus

Wire-driven parallel robotic system and its control for maintenance of offshore wind turbines

Title
Wire-driven parallel robotic system and its control for maintenance of offshore wind turbines
Authors
Lee, Dong GunOh, Se HoonSon, Hyoung Il
DGIST Authors
Oh, Se Hoon
Issue Date
2016
Citation
2016 IEEE International Conference on Robotics and Automation, ICRA 2016, 2016-June, 902-908
Type
Conference
Article Type
Conference Paper
ISBN
9780000000000
ISSN
1050-4729
Abstract
This paper describes a wire-driven parallel robotic system for the maintenance of offshore wind turbines. This robotic system vertically climbs on towers or blades, and performs cleaning and inspection using waterjets and phased array ultrasonic testing (PAUT) devices, respectively. For a detailed mechanical design, mechanisms for (1) climbing towers or blades, (2) transition motion between towers and blades, (3) gripping blades, and (4) contact motion between PAUT devices and blade surfaces are proposed so that the robotic system can maneuver on towers and blades. For the motion analysis of the robotic system, nonholonomic constraints are analyzed and utilized in height and attitude control schemes, which are proposed to adapt varying nonholonomic constraints of blade surface and achieve the climbing motion on towers and blades. To validate these control schemes, we conduct experiment and analyze the performance of the proposed control schemes. The results show that the height and attitude control schemes for the robotic system do achieve the control goals and overcome the control challenges. © 2016 IEEE.
URI
http://hdl.handle.net/20.500.11750/1727
DOI
10.1109/ICRA.2016.7487221
Publisher
Institute of Electrical and Electronics Engineers Inc.
Related Researcher
  • Author Oh, Se Hoon MCL(Motion Control Lab)
  • Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
Files:
There are no files associated with this item.
Collection:
Robotics EngineeringETC2. Conference Papers


qrcode mendeley

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE