Safety systems of technological climbing robots

Technological Climbing Robots (CRs) are mobile mechatronic system intended for motion an arbitrary orientated surfaces and performing different technological operations by means of technological equipment they have on board. The paper contains an overview of the software and hardware possibilities to provide the safety of CRs' motion. Emergency task programme management and adaptive feed-back control are considered. Classification of the different safety measures according to a principle, a position of an umbilical relative to CPI, a working level on the surface, the system failures and the motion surface type is given. Respective schemes of the CRs' safety systems are presented. Sone methods of holding force calculation for the different schemes are discussed.