Paper Info
Title
Mechanism and control of mobile pipeline maintenance robot with lazy tongs mechanism
Abstract
A new type of mobile pipeline maintenance robot has been designed to clarify the feasibility of lazy tongs mechanism for adaptation to various size pipelines. The robot basically consists of three modules with two joints between modules and can move straight and spirally along the surface of pipeline. The robot can change its arm length in order to move on the pipeline of various size from 25 A to 100 A, and pass over obstacles such as reducer, diffuser, flange and other plant equipment. The control of the robot is so complicated that the modified dual control mode is introduced using the coordinate transformation matrix. By calculating the position and attitude of the robot under the control mode, the manoeuvrability of passing over a reducer is shown with experimental results
Year
DOI
Venue
1995
10.1109/ROBOT.1995.525389
ICRA
Keywords
Field
DocType
motion control,inspection,mobile robots,modules,dual control mode,lazy tongs mechanism,mobile robot,25 to 100 a,position control,maintenance engineering,coordinate transformation matrix,pipeline maintenance robot,spirally movement,robot control,automatic control,coordinate transformation,robot kinematics,control systems,pipelines,arm
Robot control,Bang-bang robot,Simulation,Robot kinematics,Control engineering,Robot end effector,Engineering,Reducer,Robot,Cartesian coordinate robot,Mobile robot
Conference
Volume
ISSN
ISBN
1
1050-4729
0-7803-1965-6
Citations 
PageRank 
References 
4
1.68
0
Authors
6
Name
Order
Citations
PageRank
Hidemi Hosokai14528.48
Fumio Hara23118.02
Yasuyuki Uchida342.69
Yasunori Abe4339.11
kouetsu tanaka5153.85
Yoshio Tanaka613720.96