DocumentCode
3175658
Title
A 2 DoF Servomotor-based Module for Pipe Inspection Modular Micro-robots
Author
Brunete, A. ; Gambao, E. ; Torres, J.E. ; Hernando, M.
Author_Institution
Dpto. Ing. Sistemas y Autom., Univ. Politecnica de Madrid
fYear
2006
fDate
9-15 Oct. 2006
Firstpage
1329
Lastpage
1334
Abstract
A 2 degrees of freedom module for pipe inspection modular micro-robots based on servomotors is presented in this article. A mechanical and electrical description of the module is also given, including the kinematics and the close control loop design to detect obstacles (walls). The main configurations in which it can be used are described as well: snake-like robots and chain multi-configurable modular robots. The different pipes and elbows it can move on are also shown
Keywords
closed loop systems; collision avoidance; inspection; microrobots; mobile robots; robot dynamics; servomechanisms; close control loop design; obstacle detection; pipe inspection modular microrobots; servomotor-based module; snake-like robots; Connectors; Convergence; Elbow; Inspection; Intelligent robots; Kinematics; Maintenance; Robotic assembly; Servomotors; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location
Beijing
Print_ISBN
1-4244-0258-1
Electronic_ISBN
1-4244-0259-X
Type
conf
DOI
10.1109/IROS.2006.281898
Filename
4058554
Link To Document