Modeling and Control of a Tracked Mobile Robot for Pipeline Inspection (eBook)

Preface 6
Contents 8
Abbreviations 11
Symbols 13
1 Introduction 17
1.1 Aim and Scope 17
1.2 Book 19
1.3 Organization of the Book 19
2 Robotic Inspection of Pipelines 21
2.1 Mobile Inspection Robots 21
2.2 Inspection of Pipelines 25
2.2.1 Pipe Defects 25
2.2.2 Pipe Inspection Methods 26
2.3 Mobile Robots for Pipeline Inspection 29
2.3.1 Outside of Pipe Inspection 30
2.3.2 In-Pipe Inspection Robots 30
2.3.3 Vertical In-Pipe Inspection 32
2.4 Summary 34
References 35
3 Design of a Pipeline Inspection Mobile Robot With an Active Adaptation Mechanism 38
3.1 Mechanical Structure 38
3.2 Actuators 40
3.3 Inspection Equipment 41
3.4 Operation Environments 41
3.5 Complete Robot Model 44
3.6 Summary 44
References 44
4 Mathematical Modeling of the Robot 45
4.1 Kinematic Model of the Robot Motion on Even Surfaces 45
4.2 Dynamic Model of the Robot Motion on Even Surfaces 48
4.3 Kinematic Model of the Pedipulators 53
4.3.1 Forward Kinematics 54
4.3.2 Inverse Kinematics 57
4.4 Trajectory Calculation Algorithm for Pedipulators Transformation 66
4.5 Pedipulators Forward Kinematics for Robot Motion in Pipes 76
4.6 Summary 82
References 83
5 Simulations of the Robot Adaptation and Motion in Various Environments 84
5.1 Introduction 84
5.2 Robot Models in MATLAB and V-REP Software 85
5.3 Horizontal Pipe Run 89
5.4 Motion on Even and Rough Surfaces 91
5.5 Vertical Pipe Run 93
5.6 Summary 98
References 99
6 Control System Design and Implementation 100
6.1 Introduction 100
6.2 Control and Navigation of Mobile Robots 100
6.3 Control of Arm-Type Robots 104
6.4 General Structure of the Pipe Inspection Robot Control System 106
6.5 Electronic Control Board 108
6.6 Software Implementation 110
6.7 Summary 111
References 112
7 Prototype of the Pipe Inspection Robot 114
7.1 Development and Construction of the Prototype 114
7.2 Prototype Comparison with the CAD Model 116
7.3 Electronic Components and Control System of the Robot 118
7.4 Laboratory Tests of the Prototype 118
7.4.1 Pedipulator Mechanism Reconfiguration 119
7.4.2 Tests in Different Environments 121
7.4.3 Experiments on a Dedicated Test Rig 123
7.4.4 Transformation of the Prototype in Pipes 124
7.4.5 Laboratory Tests in an Environment Analogous to V-REP Simulation 125
7.4.6 Measurements of Power Consumption 126
7.5 Enhanced Version of the Prototype 133
7.5.1 Control System Upgrade 134
7.5.2 Electronic Control Board 135
7.5.3 Upgraded Prototype of the Robotic Inspection System 138
7.6 Summary 140
References 141
8 Discussion, Conclusions and Future Work 142
8.1 Discussion and Conclusions 142
8.2 Future Work 144
References 145