Modular Robotic System for Moving Inside of Pipelines - Part 2

Adrian Alutei; Mihai Olimpiu Tatar; Claudiu Cirebea

doi:10.4028/www.scientific.net/SSP.166-167.409

Paper Titles

Main Aspects Regarding the Mechanism of the Prosthesis for Human Hand - Synthesis, Analysis, Design and Functional Simulation
p.383

Motion Identification of the Human Agent's Arm in Case of Grabbing a Cylindrical Object and Transposing these in Control Rules for an Industrial Robot
p.389

On the Control of Tendon Based Parallel Manipulators
p.395

Modular Robotic System for Moving Inside of Pipelines - Part 1
p.403

Modular Robotic System for Moving Inside of Pipelines - Part 2
p.409

Structural and Constructive Modelling of One-Loop Linkages Applied in Robotics
p.415

Non-Overshooting Force Control of Series Elastic Actuators
p.421

Aspects Concerning Voice Cognitive Control Systems for Mobile Robots
p.427

Simulating the Control of a Scara Robot by Means of a 3D Hand Position Sensing System
p.433

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Modular Robotic System for Moving Inside of Pipelines - Part 2

Abstract:

This paper deals with aspects related to modeling, simulation and development of the drive and control systems for a modular robotic system for inspection and exploration. In the first part of the paper the proposed robotic system model is presented. In the second part of the paper the robotic system simulation in MATLAB / Simulink is presented, obtaining the necessary data to dimension the actuators. The command and control developed systems are presented in the end of the paper.

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Periodical:

Solid State Phenomena (Volumes 166-167)

Pages:

409-414

DOI:

https://doi.org/10.4028/www.scientific.net/SSP.166-167.409

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Online since:

September 2010

Authors:

Adrian Alutei, Mihai Olimpiu Tatar, Claudiu Cirebea

Keywords:

Active Module, In-Pipe Inspection, Modular, Passive Module, Robot

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