Control of a pipe inspection robot

摘要

DOI: 10.1049/ic:19960958 Location: Portsmouth, UK Conference date: 29 Oct. 1996 Format: PDF The mechanical design, the functional principle and the control concept are described. The robot moves along the inside of the pipe. It has 8 legs, 4 at the front and 4 at the back, pressing against the sides of the pipe. The control concept includes the task distribution to the hierarchically organized controller levels and the methods used for controller design. (3 pages) Inspec keywords: hierarchical systems; inspection; control system synthesis; legged locomotion Subjects: Multivariable control systems; Inspection and quality control; Inspection and quality control; Mobile robots; Control technology and theory; Control system analysis and synthesis methods