Modeling and Control of a Tracked Mobile Robot for Pipeline Inspection (Mechanisms and Machine Science Book 82)

This book describes the design, mathematical modeling, control system development and experimental validation of a versatile mobile pipe inspection robot. It also discusses a versatile robotic system for pipeline inspection, together with an original, adaptable tracked mobile robot featuring a patented motion unit. Pipeline inspection is a common field of application for mobile robots because the monitoring of inaccessible, long and narrow pipelines is a very difficult task for humans. The main design objective is to minimize the number of robots needed to inspect different types of horizontal and vertical pipelines, with both smooth and rough surfaces. The book includes extensive information on the various design phases, mathematical modeling, simulations and control system development. In closing, the prototype construction process and testing procedures are presented and supplemented with laboratory and field experiments. Preface Contents Abbreviations Symbols 1 Introduction 1.1 Aim and Scope 1.2 Book 1.3 Organization of the Book 2 Robotic Inspection of Pipelines 2.1 Mobile Inspection Robots 2.2 Inspection of Pipelines 2.2.1 Pipe Defects 2.2.2 Pipe Inspection Methods 2.3 Mobile Robots for Pipeline Inspection 2.3.1 Outside of Pipe Inspection 2.3.2 In-Pipe Inspection Robots 2.3.3 Vertical In-Pipe Inspection 2.4 Summary References 3 Design of a Pipeline Inspection Mobile Robot With an Active Adaptation Mechanism 3.1 Mechanical Structure 3.2 Actuators 3.3 Inspection Equipment 3.4 Operation Environments 3.5 Complete Robot Model 3.6 Summary References 4 Mathematical Modeling of the Robot 4.1 Kinematic Model of the Robot Motion on Even Surfaces 4.2 Dynamic Model of the Robot Motion on Even Surfaces 4.3 Kinematic Model of the Pedipulators 4.3.1 Forward Kinematics 4.3.2 Inverse Kinematics 4.4 Trajectory Calculation Algorithm for Pedipulators Transformation 4.5 Pedipulators Forward Kinematics for Robot Motion in Pipes 4.6 Summary References 5 Simulations of the Robot Adaptation and Motion in Various Environments 5.1 Introduction 5.2 Robot Models in MATLAB and V-REP Software 5.3 Horizontal Pipe Run 5.4 Motion on Even and Rough Surfaces 5.5 Vertical Pipe Run 5.6 Summary References 6 Control System Design and Implementation 6.1 Introduction 6.2 Control and Navigation of Mobile Robots 6.3 Control of Arm-Type Robots 6.4 General Structure of the Pipe Inspection Robot Control System 6.5 Electronic Control Board 6.6 Software Implementation 6.7 Summary References 7 Prototype of the Pipe Inspection Robot 7.1 Development and Construction of the Prototype 7.2 Prototype Comparison with the CAD Model 7.3 Electronic Components and Control System of the Robot 7.4 Laboratory Tests of the Prototype 7.4.1 Pedipulator Mechanism Reconfiguration 7.4.2 Tests in Different Environments 7.4.3 Experiments on a Dedicated Test Rig 7.4.4 Transformation of the Prototype in Pipes 7.4.5 Laboratory Tests in an Environment Analogous to V-REP Simulation 7.4.6 Measurements of Power Consumption 7.5 Enhanced Version of the Prototype 7.5.1 Control System Upgrade 7.5.2 Electronic Control Board 7.5.3 Upgraded Prototype of the Robotic Inspection System 7.6 Summary References 8 Discussion, Conclusions and Future Work 8.1 Discussion and Conclusions 8.2 Future Work References