Modeling and simulation of a tracked mobile inspection robot in Matlab and V-REP software

• Autorzy: Ciszewski M. , Mitka Ł. , Buratowski T. , Giergiel M.

Identyfikatory

DOI

10.14313/JAMRIS_2-2017/11

• Języki publikacji: EN

Abstrakty

EN

This paper presents modeling and simulation of a tracked mobile robot for pipe inspection with usage of MATLAB and V-REP software. Mechanical structure of the robot is described with focus on pedipulators, used to change pose of track drive modules to adapt to different pipe sizes and shapes. Modeling of the pedipulators is shown with application of MATLAB environment. The models are verified using V-REP and MATLAB co-simulations. Finally, operation of a prototype is shown on a test rig. The robot utilizes joint space trajectories, computed with usage of the mathematical models of the pedipulators.

Słowa kluczowe

EN

tracked robot; pipe inspection; kinematics; robot adaptation; V-REP; MATLAB; co-simulation

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2017
• Tom: Vol. 11, No. 2
• Strony: 5--11
• Opis fizyczny: Bibliogr. 14 poz., rys.

Twórcy

autor

Ciszewski M.

• Department of Robotics and Mechatronics, AGH University of Science and Technology, Cracow, Poland.

autor

Mitka Ł.

• Department of Robotics and Mechatronics, AGH University of Science and Technology, Cracow, Poland.

autor

Buratowski T.

• Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology, Poland.

autor

Giergiel M.

• Faculty of Mechanical Engineering and Robotics, AGH University of Science and Technology, Poland.

Bibliografia

• [1] S.R.S. Buss, Introduction to inverse kinematics with jacobian transpose, pseudoinverse and damped least squares methods, Univ. California, San Diego, Typeset Manuscr., vol. 132, 2009, 1–19. DOI: 10.1016/j.neuroscience.2005.01.020.
• [2] M. Ciszewski, T. Buratowski, M. Giergiel, P. Malka, K. Kurc, “Virtual Prototyping, Design and Analysis of an in-Pipe Inspection Mobile Robot”, J. Theor. Appl. Mech., vol. 52, 2014, 417–429.
• [3] M. Ciszewski, M. Waclawski, T. Buratowski, M. Giergiel, K. Kurc, “Design, Modelling and Laboratory Testing of a Pipe Inspection Robot”, Arch. Mech. Eng., vol. 62, 2015, 395–408. DOI: 10.1515/meceng-2015-0023.
• [4] P. Corke, Robotics, Vision and Control: Fundamental Algorithms in MATLAB, Springer, 2011, ISBN 978-3-642-20144-8 DOI: 10.1007/978-3-642-20144-8
• [5] I. Dulęba, M. Opałka, “A comparison of Jacobian-based methods of inverse kinematics for serial robot manipulators”, Int. J. Appl. Math. Comput. Sci., vol. 23, 2013, 373–382.DOI: 10.2478/amcs-2013-0028.
• [6] J. Giergiel, M. Giergiel, T. Buratowski, M. Ciszewski, „Pedipulator’s mechanism for positioning of a track drive module, esp. for mobile robots”, Patent application (description of the invention) no. PL 406656, 2015 (in Polish).
• [7] P. Hansen, H. Alismail, P. Rander, B. Browning, “Visual mapping for natural gas pipe inspection”, Int. J. Rob. Res., vol. 34, 2015, 532–558. DOI: 10.1177/0278364914550133.
• [8] J. Khalilov, A.T. Kutay, “Interfacing Matlab/Simulink with V – REP for A Controller Design for Quadrotor”, Int. J. Eng. Res. Rev., no. 3 , 2015, 42–49.
• [9] K. Kozłowski, P. Dutkiewicz, W. Wróblewski, Modelowanie i sterowanie robotów (Control and modelling of robots), 1st ed., PWN: Warszawa, 2012. (in Polish)
• [10] A. Nayak, S.K. Pradhan, “Design of a new inpipe inspection robot”, Procedia Eng., no. 97, 2014, 2081–2091. DOI: 10.1016/j.proeng.2014.12.451.
• [11] Y. Sharma, K. Deepak, P. Kumar, A. Chauhan, “Blockage removal and RF controlled pipe inspection robot (BRICR)”, Int. J. Electron. Telecommun., vol. 4, 2015, 62–68.
• [12] Coppelia Robotics, V-REP Virtual Robot Experimental Platform, 2016, http://www.coppeliarobotics.com
• [13] Inuktun, Inuktun crawler vehicles, 2015, http://www.inuktun.com/crawler-vehicles
• [14] ULC, ULC’S Micro-magnetic crawler, 2014,http://ulcrobotics.com

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).