2024-03-29T13:42:30Zhttp://digital.csic.es/dspace-oai/requestoai:digital.csic.es:10261/784492023-01-25T15:15:06Zcom_10261_96com_10261_4col_10261_349
http://hdl.handle.net/10261/78449
10.1108/01439910810854629
82500
A scanning robotic system for humanitarian de-mining activities
Emerald Group Publishing
2008
artículo
Ponticelli, Roberto
García Armada, Elena
rp13607
González-de-Santos, Pablo
rp14158
Armada, Manuel
Control systems
Explosives technology
Robotics
Sensors
Tracking
2008
[Purpose]Humanitarian de-mining tasks require the use of specific detecting sets to detect landmines. These sets are normally based on a one-point sensor, which must be moved over the infested terrain by a combination of a scanning manipulator and a mobile platform. The purpose of this paper is to present the development of the sensor head and the scanning manipulator.
[Design/methodology/approach]The manipulator needs sensors in order to negotiate ground irregularities and detect obstacles in the path of the mine-detecting set. All of the sensors must be integrated into a sensor head that is in charge of both detecting land mines and providing overall sensor functions for the mobile platform's steering controller.
[Findings]The sensor head is based on a commercial mine-detecting set and a ground-tracking set based on a network of range sensors tailor-made for this purpose; the scanning manipulator is based on a mechanism with five degrees of freedom.
[Originality/value]The design assessment and some experiments are reported. © Emerald Group Publishing Limited.
Industrial Robot
2008
35
133
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