Ways of robots' locomotion through pipelines with variable cross-section are investigated. Mechanisms of adaptation for wheeled modules' contraction within pipeline inner surface, are discussed. Algorithms and structures of systems for automatic, remote and automatic-remote position-force robot's motion control in mode of pipeline surface monitoring with allowance for geometrical defects leading to changes in pipeline's flow cross section, are described. Work was supported by Russian Foundation for Basic Research (Project 13-08—1364).
Pipeline, mobile robot, adaptation, defects, cross-section, wheeled units, control.
Year 2014 Issue number 1 Consecutive issue number 2 Pages 51-58
UDC identifier: 007.52:62-51