Analysis of the Direct and Inverse Kinematics of ROMA II Robot

The development of the climbing robots during the last years has stimulated the scientific research and has brought a great interest in search for robots more and more profitable and optimized for their particular tasks. The project “ROMA II”, having in mind these objectives, is dedicated to creation of a climbing robot able to move in three-dimensional (3D) environments to perform tasks of inspection and maintenance. The scientific works developed in this project are focused to four very important areas of robotics: design of robots, software engineering, control engineering and motion planning.