|Funding Reference||FCT - POSC / EEA-SRI / 60775 / 2004|
The project aims at developing a prototype robot that uses the infrastructure provided by electric power lines for monitoring/maintenance tasks. Both the power lines and the shield wires provide structured environments for the locomotion of the robot enabling the monitoring of multiple parameters in areas of difficult orography such as in dense forestry.
The project encompasses studies on alternative kinematics, robust control strategies, control architectures and hardware requirements. For the two-link element, the torques required at the actuators tend to be high and hence the payload is severely reduced. Alternative kinematics using parallel structures are foreseen to be useful to reduce the torques needed.
Intelligent Robots and Systems Group (IRSg)
Robotic Inspection Over Power Lines