System and method for inspection and maintenance of hazardous spaces

A robotic system for carrying out operations in a confined space, comprising:

• a manipulator arm, wherein the manipulator arm is operable to bend in at least one plane at one or more joints and to revolve about its central axis;
• a plinth, wherein the plinth is coupled to an end of the manipulator arm and comprises two or more plinth locking pawls and wherein the plinth locking pawls are secured to a first mounting level along a length of the manipulator arm;
• a trolley, wherein the trolley is operable to move along the length of the manipulator arm and comprises two or more trolley locking pawls and wherein the trolley locking pawls are secured to the first mounting level along the length of the manipulator arm;
• an end effector operable to couple with one or more tools;
• and
• a control system operable to:
• release the trolley locking pawls from the first mounting level along the length of the manipulator arm;
• use the trolley to traverse the length of the manipulator arm;
• secure the trolley locking pawls onto a second mounting level along the length of the manipulator arm;
• release the plinth locking pawls from the first mounting level along the length of the manipulator arm;
• reposition the plinth to the second mounting level along the length of the manipulator arm by drawing the manipulator arm through the secured trolley;
• and
• secure the plinth locking pawls to the second mounting level along the length of the manipulator arm.