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

Wire-driven parallel robotic system and its control for maintenance of offshore wind turbines
Lee, Dong GunOh, SehoonSon, Hyoung Il
DGIST Authors
Oh, Sehoon
Issue Date
2016 IEEE International Conference on Robotics and Automation, ICRA 2016, 902-908
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.
Institute of Electrical and Electronics Engineers Inc.
Related Researcher
  • Author Oh, Sehoon 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
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Department of Robotics EngineeringMCL(Motion Control Lab)2. Conference Papers

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