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RoboTurb

RoboTurb is a welding robot used to repair turbine blades developed at Universidade Federal de Santa Catarina. It is a redundant robot with a… 
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Robot welding

Papers overview

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2012
2012
Development of an automated system for cavitation repairing in rotors of large hydroelectric plants
This paper describes an automated system called Roboturb, designed for inspection and maintenance tasks of rotor blades of… 
2009
2009
A new method to solve robot inverse kinematics using Assur virtual chains
SUMMARY This paper describes a numerical algorithm to solve the inverse kinematics of parallel robots based on numerical… 
2007
2007
A COLLISION AVOIDANCE METHOD USING ASSUR VIRTUAL CHAINS
In hydroelectric power plants, the rotor blades are eroded by the cavitation process. The erosion results in craters that are… 
2005
2005
CURVATURE IDENTIFICATION IN A PRISMATIC JOINT OF A ROBOT USING GYROSCOPES BASED DUAL QUATERNIONS PROCESSING
This paper shows a solution to measure the curvature of a rail-guide in which a robot manipulator moves. Such robot, denominated… 
2005
2005
Impactos sociais e econômicos da robotização: estudo de caso do Projeto Roboturb
2003
2003
Sistema para identificação da curvatura na junta prismática de um robô via quaternions
This thesis develops the solution to identify the curvature of a rail-guide in which a robot manipulator moves. The influence… 
Review
2002
Review
2002
Hierarchical Kinematic Analysis of a Redundant Robot
This paper briefly reviews the hierarchical kinematic analysis, and apply it to a redundant manipulator. This application is done… 
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