Abstract: The present disclosure is related to methods and systems for controlling a snake-arm robot. The method includes receiving real-time image data associated with an operating environment or a location of a workpiece from optical sensor(s) mounted on a robot head of the robot; receiving input data describing a desired pose of the robot head; computing and translating a desired displacement of the robot head; computing a position of each of the links of the snake-arm robot to follow motion of the robot head, a current position of each the links, and data required to move joints connecting the links to move the robot to the desired pose; generating movement instructions; and transmitting the movement instructions to a drive motor associated with an introduction device or controllers associated with servo-motors operably connected to joints connecting the links of the snake-arm causing the robot head to move to the desired pose.

Abstract: The present disclosure is related to methods and systems for controlling a snake-arm robot. The method includes receiving real-time image data associated with an operating environment or a location of a workpiece from optical sensor(s) mounted on a robot head of the robot; receiving input data describing a desired pose of the robot head; computing and translating a desired displacement of the robot head; computing a position of each of the links of the snake-arm robot to follow motion of the robot head, a current position of each the links, and data required to move joints connecting the links to move the robot to the desired pose; generating movement instructions; and transmitting the movement instructions to a drive motor associated with an introduction device or controllers associated with servo-motors operably connected to joints connecting the links of the snake-arm causing the robot head to move to the desired pose.

Abstract: Methods and systems for controlling a snake-arm robot. In an embodiment, a server computer receives real-time image data associated with at least one of an operating environment and a location of a workpiece from an optical sensor mounted on a robot head of a snake-arm robot, and receives, input data describing a desired pose of the robot head from a user device. The server computer then computes a desired velocity of the robot head using an image Jacobian, translates the desired velocity of the robot head into incremental displacement data and rotation data within a control cycle, computes a position of each of a plurality of links comprising a snake-arm of the snake-arm robot to follow motion of the robot head, computes a current position of each of the plurality of links utilizing a forward dynamics model, and computes force and torque data required to move at least one of a plurality of joints connecting the links to move the snake-arm robot to the desired pose.

Abstract: A maintenance apparatus includes a flexible carriage configured to anchor between adjacent airfoils of a turbine assembly. The maintenance apparatus includes a maintenance tool operably coupled with the flexible carriage. The maintenance tool is configured to one or more of generate image data representative of one or more surfaces of the turbine assembly or repair the one or more surfaces of the turbine assembly. The maintenance apparatus comprises one or more motors operably coupled with the maintenance tool and configured to move the maintenance tool relative to the flexible carriage.

Abstract: Methods and systems for controlling a snake-arm robot. In an embodiment, a server computer receives real-time image data associated with at least one of an operating environment and a location of a workpiece from an optical sensor mounted on a robot head of a snake-arm robot, and receives, input data describing a desired pose of the robot head from a user device. The server computer then computes a desired velocity of the robot head using an image Jacobian, translates the desired velocity of the robot head into incremental displacement data and rotation data within a control cycle, computes a position of each of a plurality of links comprising a snake-arm of the snake-arm robot to follow motion of the robot head, computes a current position of each of the plurality of links utilizing a forward dynamics model, and computes force and torque data required to move at least one of a plurality of joints connecting the links to move the snake-arm robot to the desired pose.

Abstract: This application provides tools for use with gas turbine engines. Example tools may include multi joint tools for use in a complex environment that has accessibility constraints, such as with a gas turbine engine. The multi joint tools may include a number of pie cut cylinders connected in series. The number of pie cut cylinders may include a connecting member and a receiving portion, where the number of pie cut cylinders is connected by a first connecting member of a first pie cut cylinder engaged with a first receiving portion of a second pie cut cylinder. The multi joint tools may include an end cut cylinder forming a first end of the multi-joint tool. The end cut cylinder may include a second connecting member engaged with a second receiving portion of the first pie cut cylinder.

Abstract: A maintenance apparatus includes a flexible carriage configured to anchor between adjacent airfoils of a turbine assembly. The maintenance apparatus includes a maintenance tool operably coupled with the flexible carriage. The maintenance tool is configured to one or more of generate image data representative of one or more surfaces of the turbine assembly or repair the one or more surfaces of the turbine assembly. The maintenance apparatus comprises one or more motors operably coupled with the maintenance tool and configured to move the maintenance tool relative to the flexible carriage.