Title :
Control of a plain-structured robot for pipeline testing
Author :
Okada, Tokuji ; Fujiwara, Shigeru ; Sanemori, Tsuyoshi
Author_Institution :
Niigata Univ., Japan
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.<>
Keywords :
mobile robots; test equipment; 3-link-mechanism; circumferential motion; longitudinal motion; pipeline diagnosis; pipeline testing; plain-structured robot; spiral locomotion; Automatic control; Automatic testing; Clamps; Mobile robots; Pipelines; Robot control; Robot sensing systems; Robotics and automation; Spirals; Wheels;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240626
