Control of a plain-structured robot for pipeline testing

Abstract

As automated robot for pipeline testing is developed to simplify its clamping around the pipeline, as well as its driving mechanism and control. The robot is composed of a plain-structured 3-link-mechanism having 3 steering wheels that moves autonomously using the information from sensors. This paper describes the design and construction of the robot. Control algorithms for its longitudinal, circumferential, and spiral locomotion for carrying sensor probes on the pipeline surface and the experimental results diagnosing the pipeline condition are also given.<>