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Modeling and Control of a Tracked Mobile Robot for Pipeline Inspection

  • Michał Ciszewski
  • Mariusz Giergiel
  • Tomasz Buratowski
  • Piotr Małka
Book
  • 179 Downloads

Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 82)

Table of contents

  1. Front Matter
    Pages i-xvi
  2. Michał Ciszewski, Mariusz Giergiel, Tomasz Buratowski, Piotr Małka
    Pages 1-4
  3. Michał Ciszewski, Mariusz Giergiel, Tomasz Buratowski, Piotr Małka
    Pages 5-21
  4. Michał Ciszewski, Mariusz Giergiel, Tomasz Buratowski, Piotr Małka
    Pages 23-29
  5. Michał Ciszewski, Mariusz Giergiel, Tomasz Buratowski, Piotr Małka
    Pages 31-69
  6. Michał Ciszewski, Mariusz Giergiel, Tomasz Buratowski, Piotr Małka
    Pages 71-86
  7. Michał Ciszewski, Mariusz Giergiel, Tomasz Buratowski, Piotr Małka
    Pages 87-100
  8. Michał Ciszewski, Mariusz Giergiel, Tomasz Buratowski, Piotr Małka
    Pages 101-128
  9. Michał Ciszewski, Mariusz Giergiel, Tomasz Buratowski, Piotr Małka
    Pages 129-132

About this book

Introduction

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.

Keywords

mobile robots SLAM control systems Mechatronics robot motion Robotics robot adaptation versatile pipe inspection

Authors and affiliations

  1. 1.Department of Robotics and MechatronicsAGH University of Science and TechnologyKrakowPoland
  2. 2.Department of Robotics and MechatronicsAGH University of Science and TechnologyKrakowPoland
  3. 3.Department of Robotics and MechatronicsAGH University of Science and TechnologyKrakowPoland
  4. 4.Department of Robotics and MechatronicsAGH University of Science and TechnologyKrakowPoland

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-030-42715-3
  • Copyright Information The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020
  • Publisher Name Springer, Cham
  • eBook Packages Engineering
  • Print ISBN 978-3-030-42714-6
  • Online ISBN 978-3-030-42715-3
  • Series Print ISSN 2211-0984
  • Series Online ISSN 2211-0992
  • Buy this book on publisher's site