平面结构管道测试机器人的控制

Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI:10.1109/ICAR.1991.240626

T. Okada, S. Fujiwara, T. Sanemori

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引用次数: 0

摘要

为了简化其在管道周围的夹紧、驱动机构和控制，研制了自动化管道测试机器人。该机器人由一个平面结构的三连杆机构组成，该机构有3个方向盘，可以利用传感器的信息自主移动。本文介绍了机器人的设计和结构。给出了其承载传感器探头在管道表面进行纵向、周向和螺旋运动的控制算法以及诊断管道状况的实验结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Control of a plain-structured robot for pipeline testing

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.<>

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Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments

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