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Adaptive Suspension System Position-Force Control of Wheeled Wall-Pressed In-Pipe Climbing Robot

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Synergetic Cooperation between Robots and Humans (CLAWAR 2023)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 811))

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Abstract

The article considers the implementation of the position-force control of the adaptive suspension of a three-module wheeled robot designed to monitor ventilation pipeline systems. Mathematical equations have been developed that describes the dynamics of a controlled robot movement inside a vertical section of a pipeline. A mathematical model includes a nonlinear model of dry friction, which makes it possible to simulate the slippage of the robot's wheels relative to the pipe surface. The results of computational experiments are presented, demonstrating the operability of the proposed technique and the high performance of the adaptation mechanism when changing the diameter and properties of the pipe surface.

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Authors and Affiliations

  1. Department of Mechanics, Mechatronics and Robotics, Southwest State University, Kursk, 305040, Russia

    Sergey Jatsun & Andrei Malchikov

Authors
  1. Sergey Jatsun
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  2. Andrei Malchikov
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Corresponding author

Correspondence to Andrei Malchikov .

Editor information

Editors and Affiliations

  1. Universidade Federal de Santa Catarina, Blumenau, Santa Catarina, Brazil

    Ebrahim Samer El Youssef

  2. School of Engineering, London South Bank University, London, UK

    Mohammad Osman Tokhi

  3. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  4. Universidade Federal de Santa Catarina, Blumenau, Santa Catarina, Brazil

    Leonardo Mejia Rincon

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Jatsun, S., Malchikov, A. (2024). Adaptive Suspension System Position-Force Control of Wheeled Wall-Pressed In-Pipe Climbing Robot. In: Youssef, E.S.E., Tokhi, M.O., Silva, M.F., Rincon, L.M. (eds) Synergetic Cooperation between Robots and Humans. CLAWAR 2023. Lecture Notes in Networks and Systems, vol 811. Springer, Cham. https://doi.org/10.1007/978-3-031-47272-5_9

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