Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
Demand for in-pipe inspection robots increases along with the aging of pipelines. Most of the previous robots are manually controlled regardless of an operator’s technique. Therefore, it takes time to complete the in-pipe travel and sometimes the robot might get stuck if the operator is not sophisticated. In this paper, we propose a joint angle control strategy for 8-inch gas pipeline inspection robots. The joint angle is calculated based on the geometrical relationship between the robot and the bent pipe. From the experimental results, it was confirmed that our proposed angle control was superior to manual control.
