Proceedings of the Computational Structural Engineering Institute Conference (한국전산구조공학회:학술대회논문집)
- 2008.04a
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- Pages.178-183
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- 2008
Vibration Control of Working Booms on Articulated Bridge Inspection Robots
교량검사 굴절로봇 작업붐의 진동제어
- Published : 2008.04.17
Abstract
A robot crane truck is being developed by the Bridge Inspection Robot Development Interface(BRIDI) for an automated and/or teleoperated bridge inspection. At the end of the telescoping boom allows the operator to scan the bridge structure under the deck trough the camera. Boom vibration induced by wind and deck movement can cause serious problems in this scanning system. This paper presents a control system to mitigate such vibration of the robot boom In the proposed control system an actuator is installed at the end of the working boom. This control system is studied using a mathematical model analysis with LQ control algorithm and a scaled model test in the laboratory. The study indicates that the proposed system is efficient for the vibration control of the robot booms, thereby demonstrating its immediate applicability in the field.