ENGLISH

Modeling and Control of a Tracked Mobile Robot for Pipeline Inspection (Mechanisms and Machine Science, 82)

By Tomasz Buratowski , Mariusz Giergiel , Piotr Małka , Michal Ciszewski

Book information

Publisher
Springer
Year
2020
ISBN
3030427145, 9783030427146
Language
english
Format
PDF
Filesize
9 MB (9530804 bytes)
Pages
148\145
Time added
2024-03-28 04:32:20

Description

This book describes the design, mathematical modeling, control system development and experimental validation of a versatile mobile pipe inspection robot. It also discusses a versatile robotic system for pipeline inspection, together with an original, adaptable tracked mobile robot featuring a patented motion unit. Pipeline inspection is a common field of application for mobile robots because the monitoring of inaccessible, long and narrow pipelines is a very difficult task for humans. The main design objective is to minimize the number of robots needed to inspect different types of horizontal and vertical pipelines, with both smooth and rough surfaces. The book includes extensive information on the various design phases, mathematical modeling, simulations and control system development. In closing, the prototype construction process and testing procedures are presented and supplemented with laboratory and field experiments.

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