DocumentCode :
2776929
Title :
Autonomous mobile robot in pipe for piping operations
Author :
Muramatsu, M. ; Namiki, N. ; Koyama, R. ; Suga, Y.
Author_Institution :
Fac. of Sci. & Technol., Keio Univ., Yokohama, Japan
Volume :
3
fYear :
2000
fDate :
2000
Firstpage :
2166
Abstract :
An autonomous mobile robot that can move autonomously in a horizontal pipe, a vertical pipe and an elbow joint with bending angle of 90°. Furthermore, the robot has a vision sensor and an operating arm in front of the robot body, and accordingly it has functions to execute piping operations, such as inspection of pipe surface, welding of the pipes and so on. The robot is constructed by several units with four wheels connected by universal joints each other. The robot is controlled by a host personal computer and one-chip microcomputers. As the results of operating experiments, the effectiveness of the robot system in autonomous movement in a pipe and an elbow joint and automatic tracking of a welding line was confirmed
Keywords :
mobile robots; robot vision; autonomous mobile robot; elbow joint; one-chip microcomputers; pipe; pipe surface inspection; pipe welding; piping operations; vision sensor; Automatic control; Elbow; Inspection; Microcomputers; Mobile robots; Robot sensing systems; Robot vision systems; Robotics and automation; Welding; Wheels;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
Type :
conf
DOI :
10.1109/IROS.2000.895291
Filename :
895291
Link To Document :
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