DocumentCode
3342141
Title
Control of a plain-structured robot for pipeline testing
Author
Okada, Tokuji ; Fujiwara, Shigeru ; Sanemori, Tsuyoshi
Author_Institution
Niigata Univ., Japan
fYear
1991
fDate
19-22 June 1991
Firstpage
363
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICAR.1991.240626
Filename
240626
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