Antonio Giménez

A climbing autonomous robot for inspection applications in 3D complex environments

Often inspection and maintenance work involve a large number of highly dangerous manual operations, especially within industrial fields such as shipbuilding and construction. This paper deals with the autonomous climbing robot which uses the “caterpillar” concept to climb in complex 3D metallic-based structures. During its motion the robot generates in real-time the path and grasp planning in order to ensure stable self-support to avoid the environment obstacles, and to optimise the robot consumption during the inspection. The control and monitoring of the robot is achieved through an advanced Graphical User Interface to allow an effective and user friendly operation of the robot. The experiments confirm its advantages in executing the inspection operations.

Anti-Swinging Input Shaping Control of an Automatic Construction Crane

This paper describes the control of an automatic overhead crane for assembly of modular building elements. The automatic system was developed using a commercial full-size crane, which was modified by adding adequate sensors, servomotors, and control strategy. The crane, which maintained its original cables, was converted to a robotic system, and is controlled via a computer-based multiaxes control board. The implemented algorithms solve two main problems of module assembly: 1) precision positioning of large and heavy modules in the order of a few centimeters, and 2) anti-swinging transportation of modules, even in difficult weather conditions (not extreme). The implementation of the anti-swinging control is achieved using the on-line two-dimensional inclinometer measurements and an on-line calculation of input impulse trains. The developed input-shaping control is divided into two phases: straight line motion and external perturbances cancellation. Experimental results of the developed algorithms which demonstrate the effectiveness of the new process are presented.

Climbing Robots’ Mobility for Inspection and Maintenance of 3D Complex Environments

For complex climbing robots, which work in difficult 3D outdoor environments, the gravity force has an important influence with respect the robots changes during its motion. This type of climbing robots is self-supported in the complex 3D structures (bridges, skeleton of the buildings, etc.) which require periodic, manually performed inspections and maintenance. The use of non-conventional climbing robots for this type of operation is highly appropriate. Their locomotion system commonly comprises arms/legs that permit the robot’s 3D mobility (gait). These mechanisms also enable the robot to support itself and guarantee its stability. This paper presents the main features of non-conventional climbing robots’ mobility on complex 3D environments: power supply, number of DOFs, lightweight structure, gait, speed, secure grasp, etc. It also covers the general theory underlying the design of climbing robots, their kinematics, with its specific, unconventional mobility. The paper not only describes the climbing robot mobility theory but also provides several examples taken from the ROMA and MATS robots families. The developed robots have high degree of autonomy with totally on-board control system. These autonomous robots demonstrate in the course of real experimentation that the criteria for design, control strategy and path planning are accurate. Finally, the paper examines trends in climbing robot technology.

The MATS robot: service climbing robot for personal assistance

The human care and service field requires an innovative robotic solution to make the daily care of elderly and disabled people in both home and workplace environments easier. The European Union (EU) project MATS (flexible mechatronic assistive technology system) has developed a new concept of a climbing robot for this type of service application. The climbing process is performed by moving the robot between very simple docking stations (DSs) placed in the environment. The MATS climbing robot is a symmetrical, five degrees of freedom (5 DOF), self-containing manipulator that includes all the control and communication systems on board. To fulfil the climbing movements successfully, the developed robot is lightweight, about 11 kg for a 1.3 m reach. This article presents real experiments conducted with the robot during its climbing movements and assistance tasks for disabled persons.

Personal Autonomy Rehabilitation in Home Environments by a Portable Assistive Robot

Increasingly disabled and elderly people with mobility problems want to live autonomously in their home environment. They are motivated to use robotic aids to perform tasks by themselves, avoiding permanent nurse or family assistant supervision. They must find means to rehabilitate their abilities to perform daily life activities (DLAs), such as eating, shaving, or drinking. These means may be provided by robotic aids that incorporate possibilities and methods to accomplish common tasks, aiding the user in recovery of partial or complete autonomy. Results are highly conditioned by the systems usability and potential. The developed portable assistive robot ASIBOT helps users perform most of these tasks in common living environments. Minimum adaptations are needed to provide the robot with mobility throughout the environment. The robot can autonomously climb from one surface to another, fixing itself to the best place to perform each task. When the robot is attached to its wheelchair, it can move along with it as a bundle. This paper presents the work performed with the ASIBOT in the area of rehabilitation robotics. First, a brief description of the ASIBOT system is given. A description of tests that have been performed with the robot and several impaired users is given. Insight into how these experiences have influenced our research efforts, especially, in home environments, is also included. A description of the test bed that has been developed to continue research on performing DLAs by the use of robotic aids, a kitchen environment, is given. Relevant conclusions are also included.

The MATS robotic system to assist disabled people in their home environments

This paper reviews a new approach in the area of rehabilitation robotics. The service robot MATS helps disable and elderly people in their day life activities in common living environment like kitchen, bathroom, bedroom, etc. In this way the quality of life of the important part of population improves toward their social integration. This new prototype has new abilities like climb from one wall to another or from the table to the wheelchair, and at the same time to be attached and move with the wheelchair. The robot is totally autonomous and needs only power supply to be operated. This paper presents the distributed software architecture and the concept design of the HMI which handles the robotic system.

The Design and Development of an Automatic Construction Crane

This paper describes the design and development of an automatic crane for use in the assembly of modular buildings elements in the construction site. The automatic system was developed using a commercial crane, which was modified by adding the adequate sensors, servomotors and an advanced control system. The new crane system is meant to work in an automatic or semi-automatic manner to achieve the assembly of modules following the sequence established during the design process. The assembly path shall be readjusted to compensate for the deviations between the planned and actual loading positions of the modules to be assembled. A special handling platform was designed to allow the grasping of the modules via electromagnets and female conical locators/connectors. The male conical connectors are part of building modules themselves, and are also used to ensure the connection between modules. The cranes system is controlled via computer using a multi-axes control board implementing adequate algorithms to ensure a smooth movement and prevent the undesired swinging effects. The system is operated via a Man Machine Interface (MMI) installed in the control computer, which make use of new features as well as via the traditional push button pendant used in commercial cranes. Although the system is currently functional, new features such as the security system and the image processing modules are still under development.

ADAPTIVE CONTROL STRATEGY OF CLIMBING ROBOT FOR INSPECTION APPLICATIONS IN CONSTRUCTION INDUSTRY

Abstract This paper presents the implementation of an adaptive control strategy of the climbing robot ROMA2. Its main area of application is an autonomous inspection of complex 3D infrastructure in construction industry, like bridges, skeletons of the buildings, offshore platforms, etc. Due to the fact that gravity factors have a high influence on the quality and security of the motion, the adaptive control strategy has been selected. This strategy is based on the gain scheduling architecture for the most important axis, changing on-the-fly the parameters of the controllers.

Wireless Teleoperation of an Assistive Robot by PDA

Abstract The assistance of disabled, elderly and persons with special needs become to be one of the most important service application of the robotic systems in the near future. Humans care and service demands an innovative robotic solutions to make easier the day-life of these people in home, workplace and institutional care environments. The MATS project is developing a new concept of climbing robot for this type of service applications. The service robot MATS helps disable and elderly people in their day life activities in common living environment like kitchen, bathroom, bedroom, etc. In this way the quality of life of the important part of population improves toward their social integration. This new prototype has new abilities like climb from one wall to another or from the table to the wheelchair, and at the same time to be attached and move with the wheelchair. The robot is totally autonomous and needs only power supply to be operated. This paper presents the distributed software architecture and the concept design of the HMI which handles the robotic system.