Modeling and Control of a Tracked Mobile Robot for Pipeline Inspection: 82

Preface
Contents
Abbreviations
Symbols
1 Introduction
	1.1 Aim and Scope
	1.2 Book
	1.3 Organization of the Book
2 Robotic Inspection of Pipelines
	2.1 Mobile Inspection Robots
	2.2 Inspection of Pipelines
		2.2.1 Pipe Defects
		2.2.2 Pipe Inspection Methods
	2.3 Mobile Robots for Pipeline Inspection
		2.3.1 Outside of Pipe Inspection
		2.3.2 In-Pipe Inspection Robots
		2.3.3 Vertical In-Pipe Inspection
	2.4 Summary
	References
3 Design of a Pipeline Inspection Mobile Robot With an Active Adaptation Mechanism
	3.1 Mechanical Structure
	3.2 Actuators
	3.3  Inspection Equipment
	3.4  Operation Environments
	3.5 Complete Robot Model
	3.6 Summary
	References
4 Mathematical Modeling of the Robot
	4.1 Kinematic Model of the Robot Motion on Even Surfaces
	4.2 Dynamic Model of the Robot Motion on Even Surfaces
	4.3 Kinematic Model of the Pedipulators
		4.3.1 Forward Kinematics
		4.3.2 Inverse Kinematics
	4.4 Trajectory Calculation Algorithm for Pedipulators Transformation
	4.5 Pedipulators Forward Kinematics for Robot Motion  in Pipes
	4.6 Summary
	References
5 Simulations of the Robot Adaptation and Motion in Various Environments
	5.1 Introduction
	5.2 Robot Models in MATLAB and V-REP Software
	5.3 Horizontal Pipe Run
	5.4 Motion on Even and Rough Surfaces
	5.5 Vertical Pipe Run
	5.6 Summary
	References
6 Control System Design and Implementation
	6.1 Introduction
	6.2 Control and Navigation of Mobile Robots
	6.3 Control of Arm-Type Robots
	6.4 General Structure of the Pipe Inspection Robot Control System
	6.5 Electronic Control Board
	6.6 Software Implementation
	6.7 Summary
	References
7 Prototype of the Pipe Inspection Robot
	7.1 Development and Construction of the Prototype
	7.2 Prototype Comparison with the CAD Model
	7.3 Electronic Components and Control System of the Robot
	7.4 Laboratory Tests of the Prototype
		7.4.1 Pedipulator Mechanism Reconfiguration
		7.4.2 Tests in Different Environments
		7.4.3 Experiments on a Dedicated Test Rig
		7.4.4 Transformation of the Prototype in Pipes
		7.4.5 Laboratory Tests in an Environment Analogous to V-REP Simulation
		7.4.6 Measurements of Power Consumption
	7.5 Enhanced Version of the Prototype
		7.5.1 Control System Upgrade
		7.5.2 Electronic Control Board
		7.5.3 Upgraded Prototype of the Robotic Inspection System
	7.6 Summary
	References
8 Discussion, Conclusions and Future Work
	8.1 Discussion and Conclusions
	8.2 Future Work
	References