Simulation and Control of the Segmented Inspection Robot MAKRO

Abstract

The combined modeling and control task for a multi- joint sewer inspection system is descr ibed. The robot, called MAKRO1.1 is of worm - like shape and designed for pipes of 30 to 60 cm w idth. Since the control of more than 20 degrees of freedom is not a simple task, we need simulation of the robots kinematics before and dur ing every run. In this case, our simulation of the robot's motions is fast enough to run as a visualization tool. The construction of trajector ies and the methods to follow and to visualize them are presented.