Modeling and Control of a Tracked Mobile Robot for Pipeline Inspection: 82 (Mechanisms and Machine Science, 82) - Softcover

Ciszewski, Michał; Giergiel, Mariusz; Buratowski, Tomasz; Małka, Piotr

Softcover

ISBN 10: 303042717X ISBN 13: 9783030427177

Publisher: Springer, 2021

Synopsis

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.

About this title

From the Back Cover

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.

Edition details

• Publisher: Springer
• Publication date: 2021
• Language: English
• ISBN 10: 303042717X
• ISBN 13: 9783030427177
• Binding: Paperback
• Edition number: 1
• Number of pages: 148