Abstract
This chapter covers control system design for the robot. The control system of the pipe inspection robot is based on several concepts, related to control of mobile robots and arm-type robots. Structure of the control system is discussed in the aspect of communication, power supply, user interface and connections between different elements. Finally, software implementation is discussed on the level of on-board controller and high-level PC computer application with user graphical interface. Execution of the pedipulators trajectories is provided by the designed control system to transform the robot to different work environments.
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Ciszewski, M., Giergiel, M., Buratowski, T., Małka, P. (2020). Control System Design and Implementation. In: Modeling and Control of a Tracked Mobile Robot for Pipeline Inspection. Mechanisms and Machine Science, vol 82. Springer, Cham. https://doi.org/10.1007/978-3-030-42715-3_6
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DOI: https://doi.org/10.1007/978-3-030-42715-3_6
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