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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Egerstedt M. Control of autonomous mobile robots. In: Handbook of networked and embedded control systems; 2005. p. 767–778.
Cook G. Mobile robots navigation, control and remote sensing. New Jersey: Wiley; 2011. (Chapter 6. Control system design and implementation 95)
Rol S, Nourbakhsh IR. Introduction to autonomous mobile robots. Cambridge, USA: MIT Press; 2011.
Klancar G, Matko D, Blazic S. Mobile robot control on a reference path. In: 13th mediterranean conference on control and automation; 2005, p. 1343–1348. (Chapter 6. Control system design and implementation 96).
Kozlowski K, Pazderski D. Modeling and control of a 4-wheel skid-steering mobile robot. Int J Appl Math Comput Sci. 2004;14(4):477–96.
Corke P. Robotics, Vision and control: fundamental algorithms in MATLAB, vol. 3. Springer Science & Business Media; 2011.
Buratowski T. Mobile robots-selected issues. 1st ed. Krakow: AGH University of Science and Technology Press; 2013.
Ciszewski M, Buratowski T, Uhl T, Giergiel M, Seweryn K, Teper W, Zwierzynski AJ. Ultralight mobile drilling system-design and analyses of a robotic platform intended for terrestrial and space applications. In: Robot motion and control (RoMoCo). 2015. p. 84–90.
Francis SLX, Anavatti SG, Garratt M. Dynamic model of autonomous ground vehicle for the path planning module. In: ICARA 2011—Proceedings of the 5th international conference on automation, robotics and applications; 2011. p. 73–77.
Siciliano B, Khatib O. Springer Handbook of Robotics, 1st ed. Berlin: Springer; 2008.
Palmieri L, Koenig S, Arras KO. RRT-based nonholonomic motion planning using any-angle path biasing. In: Proceedings of IEEE international conference on robotics and automation 2016-June; 2016. p. 2775–2781.
Buratowski T, Dabrowski B, Uhl T, Banaszkiewicz M. The precise odometry navigation for the group of robots. Schedae Inform. 2010;19:99–111.
Corke P. Robotics Toolbox. 2016. http://petercorke.com/Robotics_Toolbox.html. Accessed 10 Feb 2016.
Buratowski T, Ciszewski M, Giergiel M, Kudriashov A, Mitka Ł. Robot z laserowym czujnikiem odległości do budowy map 2D. Program 55. sympozjonu “Modelowanie w Mechanice”, 2016.
Ciszewski M, Buratowski T, Giergiel M, Kudriashov A, Seweryn K, Teper W, Zwierzynski A, Uhl T. Inspection robot scaner system based on a LiDAR mapping solution in study of problems in modern science: new technologies in engineering, advanced management, efciency of social institutions. Khmelnytsky National University; 2015.
Hansen P, Alismail H, Rer P, Browning B. Visual mapping for natural gas pipe inspection. Int J Robot Res. 2015;34(4–5):532–58.
Hu Y, Song Z, Zhu J. Estimating the posture of pipeline inspection robot with a 2D Laser Range Finder. In: 2012 IEEE international conference on multisensor fusion and integration for intelligent systems (MFI); 2012. p. 401–406.
Lee J-S, Roh S, Kim DW, Moon H, Choi HR. In-pipe robot navigation based on the landmark recognition system using shadow images. In: 2009 IEEE international conference on robotics and automation; 2009. p. 1857-1862.
Yatim NM, Shauri RLA, Buniyamin N. Automated mapping for underground pipelines: An overview. In: 2nd international conference on electrical, electronics and system engineering (ICEESE); 2014. p. 77–82.
RedZone. Solo Unmanned inspection robot. http://www.redzone.com/products/solo-robots/. Accessed 21 Oct 2012.
Wu D, Ogai H, Yeh Y, Hirai K, Abe T, Sato G. Pipe inspection robot using a wireless communication system. Artif Life Robot. 2009;14(2):154–9.
Nagaya K, Yoshino T, Katayama M, Murakami I, Ando Y. Wireless piping inspection vehicle using magnetic adsorption force. IEEE/ASME Trans Mechatron. 2012;17(3):472–9.
Wacławski M. Control of arms of a mobile inspection robot. MA thesis, AGH University of Science and Technology; 2013.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2020 The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG
About this chapter
Cite this chapter
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
Download citation
DOI: https://doi.org/10.1007/978-3-030-42715-3_6
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-42714-6
Online ISBN: 978-3-030-42715-3
eBook Packages: EngineeringEngineering (R0)