IROS 2015 Paper Abstract


Paper ThAP.33

Lee, Dong Gun (Samsung Heavy Industries), Oh, Sehoon (DGIST (Daegu Gyeongbuk Institute of Science and Technology)), Son, Hyoung Il (Chonnam National University)

A Gigantic Robotic System and Control for Maintenance of Offshore Wind Turbine

Scheduled for presentation during the Poster session "Late Breaking Posters" (ThAP), Thursday, October 1, 2015, 09:45−10:00, Saal G1

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Industrial Robots, Force Control, Integrated Planning and Control


In this paper, a gigantic robotic system and control for maintenance of offshore wind turbine is proposed. The goal of the robotic system is to clean blade surfaces and to inspect inside of blades to look for fatigues, and the overview of the robotic system . To achieve the goal of the robotic system, the robot is required to perform 1) vertical climbing on towers or blades, 2) holding blade motion, 3) transition motion between towers and blades, and 4) contact motion for PAUTs. For these tasks, the mechanism of robotic system is proposed, which consists of the mobile platform and two manipulators.



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