3DCLIMBER is a pole climbing robot which was developed at ISR-UC. It can climb from 3D structures with bents and branches and scan whole area of the structure. Upon the completion of the mechanical structure some tests were conducted for proof of concept. During this test the errors which might happen were revealed and then a sensorial architecture were designed in order to measure the errors and a control architecture was proposed in order to compensate them. This paper discusses the source of errors and the approach for compensation of the errors and also the Mechatronics and the control architecture of the 3DCLIMBER.
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