Control strategy of in-pipe robot passing through elbow

摘要

In this paper, the control strategy was proposed to take advantage of the 2-DOF(Degree of Freedom)joint module to improve the mobility of the in-pipe robot. In particular, it was described the joint module control strategy to simply pass through elbow. The angles of joint module are controlled throughout 4-step to track for the robot component on the centerline of pipe. It was confirmed that the robot pass through the proposed simple path throughout the expriments.