Control Strategy of In-pipe Robot Passing Through Elbow

被引：0

作者：

Lee, Yoon Geon ^{[1
]}

Kim, Ho Moon ^{[1
]}

Choi, Yun Seok ^{[1
]}

Jang, Heesik ^{[1
]}

Choi, Hyouk Ryeol ^{[1
]}

机构：

[1] Sungkyunkwan Univ, Sch Mech Engn, Suwon 440746, South Korea

来源：

2016 13TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2016年

关键词：

In-pipe robot; Joint; Path planning;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, the control strategy was proposed to take advantage of the 2-DOF(Degree of Freedom) joint module to improve the mobility of the in-pipe robot. In particular, it was described the joint module control strategy to simply pass through elbow. The angles of joint module are controlled throughout 4-step to track for the robot component on the centerline of pipe. It was confirmed that the robot pass through the proposed simple path throughout the expriments.

引用

页码：442 / 443

页数：2