DocumentCode
2893183
Title
Longitudinal dynamics modeling of the RIOL robot
Author
Sequeira, João
Author_Institution
Inst. for Syst. & Robot., Inst. Super. Tecnico, Lisbon, Portugal
fYear
2010
fDate
5-7 Oct. 2010
Firstpage
1
Lastpage
6
Abstract
This paper describes the longitudinal dynamics modeling of the RIOL robot. This robot is designed to move hanging on a suspended cable in applications such as the inspection of electric power lines and aerial monitoring/surveillance. The main characteristics of the robot are described along with simulation results for full and reduced models of the longitudinal dynamics and respective comparison using L2 gain estimates.
Keywords
condition monitoring; inspection; mobile robots; power cables; robot dynamics; service robots; surveillance; L2 gain estimates; RIOL robot; aerial monitoring; aerial surveillance; electric power lines inspection; longitudinal dynamics modeling; suspended cable; Computational modeling; Grasping; Joints; Kinematics; Mathematical model; Prototypes; Robots; Power lines; Robot dynamics; Robot kinematics; Variable structure model;
fLanguage
English
Publisher
ieee
Conference_Titel
Applied Robotics for the Power Industry (CARPI), 2010 1st International Conference on
Conference_Location
Montreal, QC
Print_ISBN
978-1-4244-6633-7
Type
conf
DOI
10.1109/CARPI.2010.5624463
Filename
5624463
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