Navigation and control of a mobile climbing robot for shipyards

This paper describes the navigation and control features of the mobile climbing robot MoRoMAG which has been developed for welding, gas cutting and other manufacturing processes on shipyards. navigation tasks are solved by dead reckoning navigation and laser beam guidance. For weld seam tracking the robot can be equipped with either a laserscanner, an arc sensor or an inductive sensor. The user friendly programming of the robot facilitates an easy teaching-in of a large number of parameters. By using mobile climbing robots an increase of productivity can be expected.